JP7062495B2 - Parachute or paraglider deployer and flying object with it - Google Patents

Description

The present invention relates to a parachute or paraglider deploying device used for an air vehicle such as a drone or an airplane, and an air vehicle equipped with the parachute or paraglider deployment device.

In recent years, with the development of autonomous control technology and flight control technology, the industrial use of an air vehicle equipped with a plurality of rotor blades, for example, called a drone, is accelerating. A drone flies, for example, by rotating multiple rotors in a well-balanced manner at the same time, ascending and descending by increasing or decreasing the number of rotations of the rotors, and forward and backward tilting the aircraft through increasing or decreasing the number of rotations of the rotors. It can be done by. Such aircraft are expected to expand worldwide in the future.

On the other hand, the risk of a fall accident of an air vehicle as described above is regarded as dangerous, which hinders the spread of the air vehicle. In order to reduce the risk of such a fall accident, a parachute deploying device for an air vehicle is being commercialized.

For example, in Patent Document 1, a plurality of projectiles are attached to one parachute via a plurality of strings, and each of these projectiles is installed so as to close the opening of each connected tube. A device that deploys a parachute by ejecting each projectile in different directions using the gas pressure of one gas generator has been released.

U.S. Patent Application Publication No. 2016/0251083

In the conventional air vehicle, a parachute is conventionally provided, and the impact at the time of falling is reduced by decelerating the speed of the parachute by the deployed parachute. There was a problem that the posture could not be intentionally controlled to a posture suitable for the deployment of the parachute.

Therefore, the present invention has been made in view of such circumstances, and the deployment of a parachute or a paraglider capable of controlling the attitude of the flying object to a posture suitable for the deployment of the parachute or the paraglider when the flying object falls. It is an object of the present invention to provide a device and an air vehicle equipped with the device.

(1) The present invention is a deploying device for a parachute or paraglider provided on an air vehicle, wherein the parachute or paraglider configured to be deployable and a projectile coupled to the parachute or the paraglider via a string-like member. Based on the information of the injection unit capable of ejecting the projectile, the detection unit capable of detecting the state of the flight object including the abnormal state of the flight object, and the state information of the flight object detected by the detection unit. The detection unit includes a control unit capable of controlling the injection timing of the projectile in the injection unit, and the detection unit can detect the attitude state of the flight body as one of the states of the flight body. Including, the control unit makes the attitude of the air vehicle suitable for deployment of the paraglider or the paraglider based on the information of the attitude state of the air vehicle detected by the tilt angle detection unit. It is characterized in that the injection timing of the projectile in the injection unit is controlled .

According to the configuration of (1) above, the parachute or paraglider can be deployed before falling to the ground by controlling the injection timing of the projectile at the ejection unit based on the information on the state of the flying object. .. In particular, since the launch of the projectile is controlled by the control unit in the appropriate direction and timing by detecting the state of various flying objects, the reaction when the projectile is launched is used before it falls to the ground. , The parachute or paraglider can be deployed while controlling the attitude of the air vehicle to a posture suitable for deploying the parachute or paraglider. Here, the "state of the flying object" in the present specification means the position of the flying object, the motion state such as the inclination angle, the speed, the acceleration, the vibration state of the propulsion device of the flying object, and the voltage of the power supply unit of the flying object. It refers to various states related to the aircraft, such as the state of. The detection unit can detect whether or not various states related to the flying object are abnormal states.

(2) In the parachute or paraglider deploying device of the above (1), two or more pairs of the injection unit and the projectile are provided, and each of the injection units can operate independently and the projectile. It is preferable that each of the above is ejected in a different direction or in the same direction.

According to the configuration of (2) above, based on the information on the state of the flying object, the injection timing of the projectile at each injection unit is controlled at each, and the parachute or paraglider is deployed before falling to the ground. be able to. In particular, since it detects information on the state of various aircraft, it can fly more easily by using the reaction when each projectile is launched at an appropriate direction and timing before it falls to the ground. The parachute or paraglider can be deployed while controlling the posture of the body to a posture suitable for deploying the parachute or paraglider. In addition, since each injection part operates independently, it is not always necessary to take the synchronization timing of the projectiles, and the size of each member, etc., is compared with the configuration in which a plurality of injection parts are operated by one power. No precision is required. In addition, when launching the projectile in different directions, the reaction in different directions can be used, so it is easier to deploy the parachute or paraglider while controlling the attitude of the aircraft to a posture suitable for deploying the parachute or paraglider. be able to.

(3) As another viewpoint, the parachute or paraglider deploying device of the above (1) includes an injection direction adjusting mechanism capable of adjusting the injection direction of the injection unit in an arbitrary direction within a predetermined range, and the control unit includes the control unit. The injection direction adjusting mechanism may be controlled based on the information on the attitude state of the flying object detected by the inclination angle detecting unit.

According to the configuration of (3) above, since the injection direction of the injection portion can be adjusted in an arbitrary direction within a predetermined range, the parachute or the paraglider can be deployed in the optimum state. Further, it is also possible to control the attitude of an air vehicle or the like to which the parachute or the paraglider deploying device of the present invention is attached by utilizing the recoil when the injection portion is operated.

(4) In the parachute or paraglider deploying device of (3) above, the tilt angle detection unit shall consist of one or more of an acceleration sensor, a gyro sensor, and a capacitive inclinometer. Is preferable.

According to the configuration of (4) above, the attitude state of the flying object can be detected with high accuracy.

(5) In the parachute or paraglider deploying device of (3) or (4), the injection direction adjusting mechanism comprises a plate-shaped rotary table and a drive unit capable of rotationally driving the rotary table by electric power. The rotary table is provided to support the injection portion so that the direction of the injection portion in the direction horizontal to the plane of the rotary table can be adjusted among the components in the injection direction of the injection portion. preferable.

According to the configuration of (5) above, it is possible to easily adjust the direction of the injection portion in the direction horizontal to the plane of the rotary table among the components in the injection direction.

(6) In the parachute or paraglider deploying device of (5) above, the rotary table is rotatably supported by a thrust bearing provided so as to come into contact with the surface on the drive unit side, and the drive unit is supported. Preferably has an electric motor.

According to the configuration of (6) above, the operation of the rotary table during rotation can be smoothed.

(7) From another viewpoint, in the parachute or paraglider deploying device of the above (3) or (4), the injection direction adjusting mechanism rotatably supports the rotation shaft and the rotation shaft. And a drive unit provided on the support member and capable of rotationally driving the rotary shaft, the injection portion can rotate in synchronization with the rotation of the rotary shaft, and launches the projectile. If possible, it may be fixed to the rotating shaft.

According to the configuration of (7) above, the orientation in the direction intersecting the plane of the rotary table can be easily adjusted.

(8) The parachute or paraglider deploying device according to (3) to (7) further includes a wind direction detecting unit for detecting the wind direction around the flying object, and the control unit is obtained from the wind direction detecting unit. After calculating the wind direction based on the measurement data, it is preferable to control the injection direction adjusting mechanism so that the paraglider is ejected in the wind direction.

According to the configuration of (8) above, when the paraglider is ejected, it can be ejected in the optimum direction.

(9) As another viewpoint, the parachute or paraglider deploying device according to (3) to (7) further includes a wind direction detecting unit for detecting the wind direction around the flying object, and the control unit includes the wind direction. After calculating the leeward direction based on the measurement data obtained from the detection unit, the injection direction adjusting mechanism may be controlled so as to eject the parachute in the leeward direction.

According to the configuration of (9) above, when the parachute is ejected, it can be ejected in the optimum direction.

(10) In the parachute or paraglider deploying device of the above (1) to (9), it is preferable that the injection portion includes an actuator having an igniter.

According to the configuration of (10) above, a projectile having sufficient propulsive force for deploying a parachute or a paraglider can be easily ejected.

(11) In the parachute or paraglider deploying device of (10) above, the projectile is a part of the actuator, and it is preferable that the projectile is ejected by the operation of the igniter.

According to the configuration of (11) above, the projectile can be easily ejected even though it has a simple configuration. In addition, the number of parts can be reduced, and cost reduction and weight reduction can be achieved.

(12) The parachute or paraglider deploying device according to (1) to (11) preferably includes a housing portion that regulates the ejection direction of the projectile.

According to the configuration of (12) above, the projectile can be ejected in a predetermined direction even though it is a simple configuration.

(13) In the parachute or paraglider deploying device according to (1) to (12), the injection unit is activated by an electric signal from the control unit, and power is supplied only to the injection unit and the control unit. It is preferable to have a possible power supply source.

According to the configuration of (13) above, since the power supply source that supplies power only to the injection unit and the control unit is independently provided, for example, even if the power of the main power source for operating the aircraft is exhausted, the parachute Or you can deploy a paraglider.

(14) The parachute or paraglider deploying device according to (1) to (13) may be provided with a safety mechanism for preventing the ejection of the projectile when the parachute or the paraglider is not activated.

According to the configuration of (14) above, when the parachute or paraglider deploying device does not need to operate except during normal operation (for example, before the parachute or paraglider deploying device is attached to the flying object, the operation of the flying object is performed. The parachute or paraglider deployer can be safely handled without the projectile being ejected (such as before flight).

(15) In the parachute or paraglider deploying device of (1) to (14) above, the detection unit is a camera, an acceleration sensor, a gyro sensor, a pressure sensor, a laser sensor, an ultrasonic sensor, and a propulsion device for an air vehicle. It is preferable that the sensor is provided with at least one of a vibration sensor capable of detecting vibration and a voltage sensor for detecting the voltage of the power supply unit of the flying object.

According to the configuration of (15) above, various states of the flying object can be detected with high accuracy.

(16) In the parachute or paraglider deploying device of the above (1) to (15), it is preferable that the detection unit can detect the altitude.

According to the configuration of (16) above, it is possible to detect the abnormal state of the flying object with higher accuracy. In addition, by using altitude information, the attitude of the flying object can be controlled more accurately.

(17) In the paraglider or paraglider deploying device of (1) to (16) above, the pilot chute connected to the paraglider or paraglider's umbrella length portion via a string-shaped member and the pilot chute can be ejected. A pilot chute ejection unit and a fall detection unit capable of detecting the fall of the flying object are provided, and the fall detecting unit transmits a fall detection signal to the pilot chute ejection unit when the flying object falls, and the pilot chute is described. Is preferably injected in advance and the parachute or paraglider is deployed via the string-shaped member.

According to the configuration of (17) above, the main parachute can be quickly deployed by injecting and deploying the pilot chute in advance.

(18) The airframe of the present invention is coupled to the airframe, the airframe, the parachute or paraglider deploying device according to any one of (1) to (17) above, and the airframe. It is equipped with one or more propulsion mechanisms that propel the aircraft.

According to the configuration of the above (18), it is possible to provide an air vehicle that has the effect of at least one of the propulsion mechanism control devices for the air vehicles of the above (1) to (17). As a result, the lift generated by the parachute or paraglider and the air resistance to the parachute or paraglider can be combined to reduce the speed of the flying object, so that the impact on the flying object at the time of landing of the flying object is sufficient. It is possible to reduce it.

(19) From another viewpoint, the flying object of the present invention is the parachute according to any one of the above (1) to (17) provided on one side of the body and the body surface of the flying body. It may be provided with a paraglider deploying device and an air bag device provided on the other side of the surface of the flying object and capable of deploying an airbag on the ground side when the parachute or paraglider is deployed.

According to the configuration of (19) above, since the airbag is deployed on the ground side of the vehicle after the parachute or paraglider is deployed, not only the air bag itself can be protected, but also the person at the drop point or the person at the drop point or You can protect things.

It is a figure which shows the state before deployment of the parachute or paraglider deployment apparatus which concerns on one Embodiment of this invention. It is a figure which shows the structure of the actuator of the deployment device of a parachute or a paraglider in FIG. It is a block diagram which shows the structure of the control system which concerns on one Embodiment of this invention. It is a figure which shows the modification of the parachute or the paraglider deploying apparatus of FIG. It is a figure for demonstrating the operation state of the modification of the parachute or the paraglider deploying apparatus which concerns on this invention. It is a modification of a flying object provided with a parachute or paraglider deploying device according to the present invention. It is a front view which shows the other modification of the parachute or the paraglider deploying apparatus of FIG. (A) is a side view of the upper part of the rotary table of the deployable device of FIG. 7, and (b) is a perspective view of the lower part of the rotary table of the deployable device of FIG.

Hereinafter, a parachute or paraglider deploying device for an air vehicle according to an embodiment of the present invention will be described. As shown in FIG. 1, the parachute or paraglider deploying device 100 includes a parachute or paraglider 56, 57, a cup-shaped storage container 51 for storing the parachute or paraglider 56, 57 before deployment, and an inner bottom portion of the storage container 51. The support column 52 is provided in the above, and the actuators 21, 22 and 23 are provided inside, and the three pipe portions 53, 54 and 55 connected to the support column 52 are provided. An actuator 20 is provided in the pipe portion 53, an actuator 21 is provided in the pipe portion 54, and an actuator 22 is provided in the pipe portion 55. The tube portions 53, 54, 55 are arranged so as to face different directions, for example, an umbrella bone.

The projectile 53a is inserted into the tube portion 53 with a part exposed, and similarly, the projectile 54a is inserted into the tube portion 54 with a part exposed, and the projectile 54a is inserted into the tube portion 55. , The projectile 55a is inserted with a part exposed. The parachute or paraglider 56 is connected to the projectile 53a by a string 58 and is connected to the projectile 55a by a string 59. Further, the parachute or the paraglider 57 is connected to the projectile 55a by the string 60 and is connected to the projectile 54a by the string 61.

The parachute or paraglider 56, 57 is composed mainly of, for example, a parachute cloth member or a paraglider cloth member (parafoil), and when attached to a flying object or the like, the flying object falls after deployment. It is possible to reduce the speed or generate lift.

As shown in FIG. 2, the actuator 21 includes an igniter 2, a piston 3 extending in a uniaxial direction, a cylindrical housing 5 that regulates the propulsion direction of the piston 3, and a holder 6 that holds the igniter 2. It is equipped with a safety mechanism 12. Since the actuators 22 and 23 have the same configuration as the actuator 21, the description thereof will be omitted.

The igniter 2 has a cup-shaped case 2a for accommodating an igniter (not shown), and the combustion of the igniter generates an operating gas during operation, and is sometimes called a squib. The igniter 2 can also be used by incorporating it into an inflator or a micro gas generator. Here, the case 2a is made of, for example, a metal such as stainless steel, aluminum, copper, or iron. Further, the igniter 2 includes a pair of terminal pins 2b for energizing and a resistor (not shown) made of a nichrome wire or the like connected to the pair of terminal pins 2b. As the igniter, any igniter can be used as long as it functions as an igniter, but generally ZWPP (zirconium / tungsten / potassium perchlorate), ZPP (zirconium / potassium perchlorate), etc. Lead styphnate or the like is used.

The material of the piston 3 is, for example, a metal, a metal alloy, a resin, a resin, an inorganic fiber (glass, carbon fiber, etc.), a metal composite material, or the like. The piston 3 is propulsively provided in the housing 5, is arranged on the igniter 2 side, and has a first portion 3a having an outer diameter substantially the same as the inner diameter of the housing 5 and a second portion 3d having a diameter smaller than that of the first portion 3a. And a piston head 3e provided at the tip of the second portion 3d. In this embodiment, the second portion 3d is a piston rod. The outer diameter of the piston head 3e may be the same as or different from the outer diameter of the housing 5 depending on the application.

The material of the housing 5 is, for example, a metal, a metal alloy, a resin, a resin, an inorganic fiber (glass, carbon fiber, etc.), a metal composite material, or the like. The housing 5 has a locking portion 5a on the piston head 3e side that locks the first portion 3a of the piston 3 when the piston 3 is propelled. The locking portion 5a is provided with a hole portion 5b through which the second portion 3d of the piston 3 is inserted. A part of the second portion 3d of the piston 3 and the piston head 3e are arranged outside the housing 5.

A recess 3b is formed in the first portion 3a of the piston 3 on the igniter 2 side. The piston 3 is held and fixed to the case 2a by press-fitting the recess 3b into the case 2a of the igniter 2. As a result, the combustion chamber 4 is formed in the space surrounded by the case 2a and the recess 3b.

Further, as shown in FIG. 2, a chamfer 3c is provided at the opening side end portion of the inner wall portion of the recess 3b along the axial direction of the piston 3. The chamfer 3c may be, for example, a cut surface or an R surface.

The igniter 2 is held by the holder 6 in a state where the case 2a is arranged in the housing 5. One end of the housing 5 (the end opposite to the locking portion 5a side) is closed by the igniter 2. The holder 6 is fixed to the one end portion of the housing 5. Specifically, the housing 5 has a flange portion 5c extending outward in the axial direction at one end thereof. The holder 6 has a fitting groove 6b fitted to the flange portion 5c, and a caulking flange 6a for caulking and fixing the flange portion 5c. In such a configuration, the housing 5 is fixed to the holder 6 by caulking and fixing the flange portion 5c with the caulking flange 6a in a state where the fitting groove 6b of the holder 6 is fitted to the flange portion 5c of the housing 5. Has been done. The housing 5 and the holder 6 may be joined by welding. The holder 6 is made of, for example, a metal, a metal alloy, a resin, a resin and an inorganic fiber (glass, carbon fiber, etc.), a metal composite material, or a thermoplastic resin. Examples of the thermoplastic resin include synthetic resins such as PBT (polybutylene terephthalate), PET (polybutylene terephthalate), PA6 (nylon 6), PA66 (nylon 66), PPS (polyphenylene sulfide), and PPO (polyphenylene oxide) and glass. A mixture of fibers and the like is preferable. Further, the holder 6 may be a thermosetting resin composed of a room temperature curing type or a thermosetting type, and may further contain a curing agent, a curing accelerator, or the like, if necessary. Examples of the thermosetting resin include epoxy resin, phenol resin, unsaturated polyester, polyurethane, polyimide, silicon resin and the like.

An annular groove 7 is provided on the outer peripheral portion of the first portion 3a of the piston 3. The annular groove 7 is provided with an annular first seal member 8. As the first seal member 8, for example, an O-ring can be adopted. With such a configuration, the space between the outer wall portion of the first portion 3a of the piston 3 and the inner wall portion of the housing 5 is closed by the first seal member 8 when the piston 3 is stopped and propulsion. .. Here, as a modification, the annular groove 7 and the first seal member 8 may not be provided.

On the other hand, an annular groove 9 is provided in the peripheral wall portion of the hole portion 5b in the locking portion 5a. The annular groove 9 is provided with an annular second seal member 10. As the second seal member 10, for example, an O-ring can be adopted. With such a configuration, the space between the peripheral wall portion of the hole portion 5b and the outer wall portion of the second portion 3d of the piston 3 is closed by the second seal member 10 when the piston 3 is stopped and propulsion. There is. Here, as a modification, the annular groove 9 and the second seal member 10 may not be provided.

A shock absorbing member 11 is provided on the surface of the locking portion 5a that the first portion 3a of the piston 3 comes into contact with during propulsion. The impact cushioning member 11 is formed of, for example, rubber, gel, styrofoam, or the like. When the first portion 3a collides with the impact cushioning member 11, the impact cushioning member 11 is elastically deformed or plastically deformed, so that the impact force on the first portion 3a and the locking portion 5a is reduced. There is. In the present embodiment, the shock absorbing member 11 is formed in an annular shape, but the present invention is not limited to this, and may be another shape such as a dot shape. Here, the shock absorbing member 11 may be fixed to the second portion 3d side of the first portion 3a of the piston 3, or may be fixed to the first portion 3a, the locking portion 5a, and the housing 5 without being fixed. It may be provided in a space surrounded by an inner wall portion.

Here, the operation of the actuator 21 will be specifically described. When a predetermined amount of current is supplied to the terminal pin 2b of the igniter 2, Joule heat is generated in the resistor and the igniter starts combustion. The high temperature flame generated by the combustion explodes the case 2a containing the igniter. As a result, the heat particles generated by the combustion of the igniter flow into the combustion chamber 4 and propel the piston 3 in the direction of the arrow in FIG. The time from when a current flows through the resistor until the igniter 2 operates is generally 2 milliseconds or less when a nichrome wire is used for the resistor.

The safety mechanism 12 includes a grip portion 12a and a pair of pins 12b extending from the grip portion 12a and allowing the housing 5 and the piston 3 to penetrate. The grip portion 12a can be held by a human finger so that the safety mechanism 12 can be pulled out from the housing 5 and the piston 3. The housing 5 and the piston 3 are each provided with holes 5d and 3f through which the pair of pins 12b can penetrate. Here, as a modification, a cap may be further provided on the tips of the pair of pins 12b to prevent the safety mechanism 12 from coming off easily.

As shown in FIG. 3, the parachute or paraglider deploying device 100 includes a control unit (computer having a CPU, ROM, RAM, etc.) 20 for controlling the firing timing of the actuators 21, 22, and 23, a fall detection unit 31, and a fall detection unit 31. It includes a power supply source 32 and an inclination angle detecting unit 33.

In FIG. 3, the drop detection unit 31 is, for example, at least one of an acceleration sensor and a gyro sensor. When a predetermined speed or acceleration (for example, a preset speed or acceleration that is assumed to be falling) is detected by the fall detection unit 31, an operation signal from a remote control device (not shown) is constant. The fall detection unit 31 gives a fall detection signal indicating that the flying object is falling to the parachute or paraglider deployment device 100 and the control unit 30 when the vehicle is in a preset state such as when the time is not received. .. The fall detection unit 31 can also detect the altitude.

The power supply source 32 is provided separately from the power supply unit (not shown) of the flying object, and supplies power to the parachute or paraglider deployment device 100, the control unit 30, the fall detection unit 31, and the tilt angle detection unit 33. .. As the power supply source 32, for example, a lithium ion battery can be used.

The tilt angle detection unit 33 has in advance the state of the flying object during normal operation (for example, the state of only floating at a certain point) as normal attitude data, and the inclination angle of the flying object from this normal attitude data. Is detected for each of the three axes of the X-axis, the Y-axis, and the Z-axis. Further, the tilt angle detection unit 33 may detect the tilt angle with respect to each of the XY plane, the YZ plane, and the ZX plane. The tilt angle detection unit 33 is at least one of a camera, an image sensor, an acceleration sensor, and a gyro sensor. The control unit 30 has an injection timing of the actuators 21, 22, and 23 based on the information detected by the tilt angle detection unit 33 in the event of an abnormality such as when the tilt angle exceeds a predetermined tilt angle and the vehicle is falling. Is determined, and the attitude of the flying object is controlled to be in the state during normal operation. Here, as a modification, when the control unit 30 determines that the flying object is abnormal, the abnormality is notified to the operator via the controller or the like, and the operator himself uses the controller or the like to notify the operator. The launching device may be activated by determining the ejection direction of the parachute or paraglider and ejecting it. When the fall detection unit 31 and the tilt angle detection unit 33 are an acceleration sensor or a gyro sensor, the roles of the fall detection unit 31 and the tilt angle detection unit 33 can be made to function by one acceleration sensor or gyro sensor. ..

In an air vehicle equipped with a parachute or paraglider deploying device 100 having the above configuration, when the safety mechanism 12 is released, the actuators 21, 22 and 23 are set at appropriate injection timings by the determination of the control unit 30. It is activated to launch projectiles 53a, 54a, 55a and deploy parachutes or paragliders 56, 57 while keeping the vehicle in the normal operating position. Specifically, the projectile 53a is ejected by the propulsion of the piston of the actuator 21, the projectile 53a is ejected by the propulsion of the piston of the actuator 21, the projectile 54a is ejected by the propulsion of the piston of the actuator 22, and the actuator 23 is ejected. When the projectile 55a is ejected by the propulsion of the piston, the strings 58, 59, 60, 61 are pulled in the ejection direction, and the parachute or the paragliders 56, 57 are deployed. If the safety mechanism 12 in the actuator 21 is not released, the piston 3 may move even if a predetermined amount of current is supplied to the terminal pin 2b of the igniter 2 and the igniter 2 operates. It is not possible and the projectile is not fired. This point is the same for the actuators 22 and 23, and the parachute or the paragliders 56 and 57 are not deployed unless each safety mechanism is released.

According to the parachute or paraglider deploying device 100 of the present embodiment, the projectiles 53a, 54a, 55a are based on the tilt angle detected by the fall detection unit 31 (for example, a tilt angle clearly different from the normal posture) at the time of abnormality. The parachute or paragliders 56, 57 can be deployed before falling to the ground by controlling the ejection timing of. Further, since the tilt angle detection unit 33 detects the tilt angle and the control unit 30 controls the ejection of the projectiles 55a, 54a, 55a in an appropriate direction and timing, the projectile 53a is before falling to the ground. , 54a, 55a can be used to deploy the parachute or paraglider 56, 57 while controlling the attitude of the flying object to a posture suitable for deploying the parachute or paraglider 56, 57. In particular, by ejecting the projectiles 53a, 54a, 55a in different directions, the reaction in different directions can be used, so that the attitude of the air vehicle can be more easily controlled to the attitude suitable for the deployment of the parachute or the paragliders 56, 57. While the parachute or paragliders 56, 57 can be deployed.

Further, since the actuators 21, 22 and 23 having an igniter are used, the projectiles 53a, 54a and 55a having sufficient propulsive force to deploy the parachute or the paragliders 56 and 57 can be easily ejected.

Further, since each of the actuators 21, 22, and 23 is provided with a housing 5 that regulates the ejection directions of the projectiles 53a, 54a, and 55a, the projectiles have a simple configuration in the direction of desired ejection, although the configuration is simple. However, the projectiles 53a, 54a, 55a can be ejected in a predetermined direction.

Further, since the power supply source 32 that supplies power only to the deploying device (actuator) and the control unit is independently provided, for example, even if the power of the main power source for operating the vehicle is exhausted, the actuators 21 and 22 23 can be activated and parachutes or paragliders 56, 57 can be deployed.

Further, since the safety mechanism 12 is provided, when the parachute or paraglider deploying device 100 does not need to operate except during normal operation (for example, before the parachute or paraglider deploying device 100 is attached to the flying object, the flying object). The parachute or paraglider deploying device 100 can be safely handled without ejecting the projectiles 53a, 54a, 55a before the flight.

Although the embodiments of the present invention have been described above with reference to the drawings, it should be considered that the specific configuration is not limited to these embodiments. The scope of the present invention is shown by the scope of claims rather than the description of the embodiment described above, and further includes all modifications within the meaning and scope equivalent to the scope of claims. For example, the actuator is not limited to the actuator shown in the above embodiment, and any actuator may be used as long as it can launch a projectile.

Further, in the above embodiment, the igniter 2 alone is adopted as the source of the propulsive force of the piston 3, but the present invention is not limited to this, and the disk-type gas generation provided with the igniter 2 is not limited to this. All gas generators such as vessels, cylinder-type gas generators, and micro gas generators can be used as sources of propulsive force for the piston 3.

Further, in the above embodiment, three sets of the actuator and the projectile are used, but the present invention is not limited to this, and one or more sets of the actuator and the projectile may be provided. Even if only one set of the actuator and the projectile is provided, the position where the actuator and the projectile are provided and the projectile ejection direction are adjusted, and the launch timing of the projectile by the control unit 30 of the above embodiment. By setting to an appropriate value, it is possible to normalize the attitude of the flying object by the reaction of the ejection of the projectile.

Further, the outputs of the actuators 21, 22 and 23 are set to be different from each other, and the control unit 30 calculates an appropriate ejection timing of the projectile based on the inclination angle detected by the inclination angle detection unit 33, and the actuator 21 , 22 and 23 may be operated at their respective timings (including at the same time).

Further, in the configuration of the parachute or paraglider deploying device 100 in the above embodiment, for example, an actuator and a parachute or a paraglider are provided in a housing having one end opened, and the parachute or the paraglider is directly driven by the propulsive force of the piston of the actuator. A configuration that is extruded and expanded may be adopted. Specific examples are as follows. As shown in FIG. 4, the parachute or paraglider deploying device 90 includes an actuator 63 similar to the actuator 1 described above, and a parachute or paraglider 86 that is also a projectile. The actuator 63 includes an igniter 84 having a cup-shaped case 85 for accommodating an igniter (not shown), a piston 81 having a recess 82 and a piston head 83 integrally formed with the recess 82, and a piston 81. It is provided with a bottomed cylindrical housing 80 that accommodates and regulates the propulsion direction of the piston 81. The parachute or paraglider 86 is housed in the housing 80 in a state of being arranged on the piston head 83, and is a so-called parachute. In such a configuration, the parachute or paraglider 86 can be directly pushed out and deployed by propulsion of the piston 81. The open end of the housing 80 is closed by the lid 87 in the initial state, and can be removed from the open end by pushing out the parachute or the paraglider 86.

In addition, when the parachute or paraglider deployment device 100 is mounted on the flying object (not shown), if the safety mechanism 12 cannot be released before the power of the flying object is turned on, a warning sound or the like is used. A notification means for notifying that the release has not been completed may be provided.

Further, each projectile in the above embodiment may be integrated with each piston of each actuator. In this case, unlike the pistons of the above embodiment, the actuator is not locked in the middle of each housing (for example, the actuator without the locking portion 5a in the actuator shown in FIG. 2 is used). It is necessary to configure it so that it is ejected to. As a result, the projectile can be easily ejected even though it has a simple structure. In addition, the number of parts can be reduced, and cost reduction and weight reduction can be achieved.

Further, as shown in the deployment operation diagrams of FIGS. 5A to 5C, the flying object 200 is provided with the deployment device 101 similar to the deployment device 100 of the parachute or paraglider of the above embodiment, and the parachute or paraglider 56 is provided. Prior to deploying a parachute or paraglider 256 similar to the above, the pilot chute 270 connected to the parachute or paraglider 256 umbrella length via a string 258 may be pre-injected (see FIG. 5 (a)). ). The pilot chute 270 can be ejected from the pilot chute ejection unit (not shown; the basic configuration is the same as the deployment device 90) that has received the pilot chute ejection signal from the control unit (not shown). This allows the parachute or paraglider 256 to be launched smoothly and quickly (see FIG. 5 (b)) and the parachute or paraglider 156 can be deployed (see FIG. 5 (c)). The airframe 200 includes an airframe 201, a parachute or paraglider deployment device 101 for an airframe coupled to the airframe 201, and one or more propulsion mechanisms coupled to the airframe 201 to propel the airframe 201. For example, a propeller) 202 and a plurality of leg portions 203 provided at the lower part of the machine body 201 are provided.

Further, as shown in FIGS. 6A and 6B, an air bag device may be provided together with a deploying device similar to the deploying device 100 of the parachute or paraglider of the above embodiment. Here, the airframe 300 shown in FIG. 6A is coupled to the airframe 301, the parachute or paraglider deployment device 102 for the airframe coupled to the airframe 301, and the airframe 301. One or more propulsion mechanisms (eg, propellers, etc.) 302 to be propelled, a plurality of legs 303 provided at the bottom of the aircraft 301 in the normal posture, and a parachute or paraglider provided on the side surface of the aircraft 301 in the normal posture. The storage container 351 is provided, an airbag device 310 provided on a side surface facing the storage container 351 and a device 320 provided at the lower part of the machine body 301 in a normal posture. Further, the airbag device 310 includes a bag-shaped member 311 and a gas generator (not shown) capable of injecting gas into the bag-shaped member 311. Further, the device 320 is a precision machine such as a camera and a sensor. Note that FIG. 6A shows that the bag-shaped member 311 has already been unfolded, but before unfolding, the bag-shaped member 311 is folded to about the same size as the storage container 351. .. Further, the gas generator here may be any device as long as it can inject gas into the bag-shaped member 311 and inflate it, and conventionally known techniques can be used. The airbag device 310 shown in FIG. 6 (a) can not only protect the device 320 in the event of a fall, but also protect other collision objects and people.

Further, the airframe 400 shown in FIG. 6B is coupled to the airframe 401, a parachute or paraglider deployment device 103 for the airframe coupled to the airframe 401, and the airframe 401 to propel the airframe 401. Storage of one or more propulsion mechanisms (eg, propellers, etc.) 402, multiple legs 403 provided at the bottom of the aircraft 401, and a parachute or paraglider provided on the lower surface of the aircraft 401 in normal posture. It includes a container 451, an air bag device 410 provided on the upper surface of the machine body 401 facing the storage container 451 and a device 420 provided on the lower part of the machine body 401 in a normal posture. Further, the airbag device 410 includes a bag-shaped member 411 and a gas generator (not shown) capable of injecting gas into the bag-shaped member 411. Further, the device 420 is a precision machine such as a camera and a sensor. Note that FIG. 6B shows the bag-shaped member 411 already unfolded, but before unfolding, the bag-shaped member 411 is folded to about the same size as the storage container 451. .. Further, the gas generator here may be any device as long as it can inject gas into the bag-shaped member 411 and inflate it, and conventionally known techniques can be used. The airbag device 410 shown in FIG. 6B can not only protect the device 420 in the event of a fall, but also protect other collision objects and people.

In addition, in FIGS. 6 (a) and 6 (b), the thing which protects an object and a person by the airbag device was shown, but the mounting position of the airbag device is shown in FIGS. 6 (a) and 6 (b). The airbag may be installed anywhere on the surface of the aircraft as long as the airbag can be deployed so as to protect objects and people.

Further, the parachute or paraglider deploying device of the above embodiment may further include any one or more of a pressure sensor, a laser sensor, an ultrasonic sensor, a vibration sensor, and a voltage sensor.

The barometric pressure sensor can detect altitude, and when the barometric pressure sensor detects that the altitude is dangerous, the control unit that receives the abnormal signal emitted from the barometric pressure sensor is the present invention. The parachute or paraglider deployment device can be activated.

Further, the laser sensor and the ultrasonic sensor can detect an altitude, a position, or an obstacle, and any of these laser sensors and an ultrasonic sensor detects a dangerous altitude, position, or obstacle. If so, the control unit that receives the abnormal signal emitted from any of these laser sensors and ultrasonic sensors can operate the parachute or paraglider deploying device of the present invention.

Further, the vibration sensor can detect the vibration of the propulsion device of the flying object, and when the vibration sensor detects the abnormal vibration of the propulsion device of the flying object, the control unit receives the abnormal signal emitted from the vibration sensor. Can activate the parachute or paraglider deployment device of the present invention.

Further, the voltage sensor can detect the voltage of the power supply unit of the flying object, and when this voltage sensor detects an abnormal voltage (voltage drop, etc.) of the power supply unit of the flying object, the abnormal signal is transmitted from the voltage sensor. The control unit that received the above can activate the deployment device of the parachute or paraglider of the present invention.

Further, the parachute or paraglider deploying device 500 shown in FIGS. 7 and 8 may be applied to the flying object. The parachute or paraglider deploying device 500 includes an injection unit 590, an injection direction adjusting mechanism 502 that can adjust the injection direction of the injection unit 590, and a wind direction detection unit (not shown) that can detect the wind direction around the flying object. And have.

The injection unit 590 has the same configuration as the parachute or paraglider deploying device 90 in the above embodiment, and has a housing 580 and a lid 587.

The injection direction adjusting mechanism 502 includes a base 510, a rotary table 520, support members 521, 522, a rotary shaft 523, an electric motor 524, and a control unit (not shown).

As shown in FIG. 7, the base 510 includes an electric motor 511 (driving unit), a rotating shaft 512, and a thrust bearing 513, and is attached to the airframe 501 of the airframe. The electric motor 511 is a drive source for rotationally driving the rotary table 520. Further, the rotary shaft 512 is for transmitting the driving force of the electric motor 511 to the rotary table 520. Further, the thrust bearing 513 includes a rolling element 514 that can roll in contact with the surface of the rotary table 520 on the electric motor 511 side, and a ring-shaped guide portion 515 that regulates and guides the rolling direction of the rolling element 514. The rotary table 520 is rotatably supported in the circumferential direction (the direction of the arrow in FIG. 8B). Further, the thrust bearing 513 uses a cage (not shown) that holds the positional relationship of the rolling elements 514 so that the rolling elements 514 do not come into contact with each other. Specific examples of the thrust bearing 513 include a ball bearing using a ball for the rolling element 514, a roller bearing using a columnar roller for the rolling element 514, and the like.

As shown in FIG. 7, the support members 521 and 522 are on the opposite side of the rotary table 520 from the electric motor 511 so as to have a positional relationship facing each other and to rotatably support both ends of the rotary shaft 523. It is fixed to the surface of. One end of the rotary shaft 523 is connected to the electric motor 524, and the rotary shaft 523 can be rotated by appropriately driving the electric motor 524 by a command signal from a control unit (not shown). Further, the rear end portion of the injection portion 590 is fixed to the rotation shaft 523 so that the projectile can be launched, and can rotate in the arrow direction shown in FIG. 8A in synchronization with the rotation of the rotation shaft 523. It has become. That is, the angle of the rotary table 520 with respect to the horizontal plane can be adjusted in the injection direction of the injection unit 590.

The wind direction detecting unit can detect the wind direction, such as an anemometer and an ultrasonic wind direction wind speed sensor, and can be attached to the side surface of the base 510 or the like. The control unit in the injection direction adjusting mechanism 502 calculates the windward or leeward direction based on the data obtained from the wind direction detection unit, and the injection unit 590 so that the paraglider or parachute can be ejected in the optimum injection direction. Control the orientation.

With these configurations, the injection direction adjusting mechanism 502 can adjust the firing direction of the projectile in the ejection unit 590 to any direction. Therefore, when the parachute or paraglider deploying device 500 is attached to the flying object, the parachute or paraglider can be ejected according to the attitude of the flying object. In particular, when the parachute or paraglider deploying device 500 ejects a paraglider, the windward direction is calculated based on the measurement data obtained from the wind direction detection unit, and then the injection direction is adjusted so as to eject in the windward direction. The mechanism 502 can be controlled. When the parachute or paraglider deploying device 500 ejects a parachute, the injection direction adjusting mechanism 502 calculates the leeward direction based on the measurement data obtained from the wind direction detection unit, and then ejects the parachute in the leeward direction. Can also be controlled. As a result, according to the parachute or paraglider deploying device 500, the parachute or paraglider can be deployed in an optimum state, and the reaction of the injection unit 590 during operation can be utilized to deploy the parachute or paraglider 500. It is also possible to control the attitude of the air vehicle to which the parachute is attached.

Further, as other examples such as the above-described embodiment, altitude information obtained from the above-mentioned drop detection unit, pressure sensor, laser sensor, ultrasonic sensor, and other devices capable of detecting altitude, and the above-mentioned tilt angle detection. Information that exceeds a predetermined threshold (for example, information on the direction and speed of the wind when there is a wind) using the information on the tilt angle obtained from the unit and other information depending on the situation (for example, information on the direction and speed of the wind when there is a wind). When the control unit determines that the vehicle is in an abnormal posture (data indicating that the vehicle is in an abnormal posture), (a) the control unit determines the appropriate ejection direction of the paraglider or paraglider (for example, the posture of the vehicle). The direction to correct the paraglider or paraglider to be suitable for deployment) may be calculated to activate the paraglider or paraglider deployment device, or (b) the operator himself / herself may operate the paraglider or paraglider via a controller or the like. A signal in the ejection direction of the above may be transmitted to the control unit, and the control unit that receives the signal may activate the deployment device of the parachute or the paraglider. In these cases, the operator may be notified in advance that the aircraft is in an abnormal attitude from the control unit via the controller or the like by using voice, an indicator light, a display screen or the like. ..

2,84 Ignition 2a, 85 Case 2b Terminal pin 3, 81 Piston 3a First part 3b, 82 Recess 3c Chamfering 3d Second part 3e, 83 Piston head 3f Hole 4 Combustion chamber 5, 80, 580 Housing 5a Locking part 5b Hole 5c Flange 5d Hole 6a Flange 6b Fitting groove 7, 9 Circular groove 8 First seal member 10 Second seal member 11 Impact shock absorber 12 Safety mechanism 12a Grip 12b Pin 21, 22, 23, 63 Actuator 30 Control unit 31 Fall detection unit 32 Power supply source 33 Tilt angle detection unit 51, 351, 451 Storage container 52 Support pillar 53, 54, 55 Tube unit 53a, 54a, 55a Projector 56, 57, 86, 156, 256 Parachute or Paraglider 58, 59, 60, 61, 258 String (string-shaped member)
87, 587 Closure 90, 100, 101, 102, 103, 500 Deployment device 200, 300, 400 Aircraft 201, 301, 401, 501 Aircraft 202, 302, 402 Propulsion mechanism 203, 303, 403 Leg 270 Pilot chute 310 , 410 Airbag device 311, 411 Bag-shaped member 320, 420 Device 590 Injection part

Claims (19)

A parachute or paraglider deployment device installed on an aircraft.
With a deployable parachute or paraglider,
With the projectile, which is coupled to the parachute or paraglider via a string member, or comprises the parachute or paraglider.
An ejection unit capable of ejecting the projectile and
A detector capable of detecting the state of the flying object including the abnormal state of the flying object, and
A control unit capable of controlling the injection timing of the projectile in the injection unit based on the information on the state of the flying object detected by the detection unit.
Equipped with
The detection unit includes an inclination angle detection unit capable of detecting the attitude state of the air vehicle as one of the states of the air vehicle.
The control unit is the injection unit so that the attitude of the vehicle is suitable for the deployment of the parachute or the paraglider based on the information on the attitude state of the vehicle detected by the tilt angle detection unit. A parachute or paraglider deployment device comprising controlling the ejection timing of the projectile in . Two or more pairs of the injection unit and the projectile are provided.
The parachute or paraglider deploying device according to claim 1, wherein each of the ejection portions can be operated independently and ejects each of the projectiles in different directions or in the same direction. .. Equipped with an injection direction adjustment mechanism that can adjust the injection direction of the injection unit in any direction within a predetermined range .
The deployment of the parachute or paraglider according to claim 1, wherein the control unit controls the injection direction adjusting mechanism based on the information on the attitude state of the flying object detected by the inclination angle detecting unit. Device. The parachute or paraglider deploying device according to claim 3, wherein the tilt angle detection unit comprises one or more of an acceleration sensor, a gyro sensor, and a capacitance type inclinometer. The injection direction adjusting mechanism includes a plate-shaped rotary table and a drive unit capable of rotationally driving the rotary table by electric power.
The rotary table is characterized in that it supports the injection portion so that the orientation of the components in the injection direction of the injection portion in the direction horizontal to the plane of the rotary table can be adjusted. Item 3. The parachute or paraglider deploying device according to item 3. The rotary table is rotatably supported by a thrust bearing provided so as to be in contact with the surface on the drive unit side.
The parachute or paraglider deploying device according to claim 5, wherein the drive unit has an electric motor. The injection direction adjustment mechanism
The axis of rotation and
A support member that rotatably supports the rotating shaft and
A drive unit provided on the support member and capable of rotationally driving the rotary shaft,
Equipped with
The parachute or the parachute according to claim 3, wherein the injection portion is fixed to the rotation shaft so as to be rotatable in synchronization with the rotation of the rotation shaft and to be able to launch the projectile. Paraglider deployment device. Further including a wind direction detection unit that detects the wind direction around the flying object,
The control unit is characterized in that after calculating the windward direction based on the measurement data obtained from the wind direction detection unit, the control unit controls the injection direction adjusting mechanism so as to eject the paraglider in the windward direction. The parachute or paraglider deploying device according to any one of claims 3 to 7. Further including a wind direction detection unit that detects the wind direction around the flying object,
The control unit is characterized in that after calculating the leeward direction based on the measurement data obtained from the wind direction detection unit, the control unit controls the injection direction adjusting mechanism so as to eject the parachute in the leeward direction. The parachute deploying device according to any one of claims 3 to 7. The parachute or paraglider deploying device according to any one of claims 1 to 9, wherein the injection unit includes an actuator having an igniter. The parachute or paraglider deploying device according to claim 10, wherein the projectile is a part of the actuator and is ejected by the operation of the igniter. The parachute or paraglider deploying device according to any one of claims 1 to 11, wherein the injection portion includes a housing portion that regulates the ejection direction of the projectile. The injection unit is activated by an electric signal from the control unit.
The parachute or paraglider deploying device according to any one of claims 1 to 12, further comprising a power supply source capable of supplying power only to the injection unit and the control unit. The parachute or paraglider deploying device according to any one of claims 1 to 13, wherein the injection portion is provided with a safety mechanism for preventing the ejection of the projectile when the projectile is not activated. The detection unit includes a camera, an acceleration sensor, a gyro sensor, a pressure sensor, a laser sensor, an ultrasonic sensor, a vibration sensor capable of detecting vibration of a propulsion device of an air vehicle, and a voltage for detecting a voltage of a power supply unit of the air vehicle. The parachute or paraglider deploying device according to any one of claims 1 to 14, further comprising at least one having a necessary function selected from a sensor. The parachute or paraglider deploying device according to any one of claims 1 to 15, wherein the detection unit is capable of detecting altitude. A pilot chute connected to the parachute or the umbrella length of the paraglider via a string-like member,
A pilot chute ejection unit capable of injecting the pilot chute,
Equipped with
The control unit transmits a pilot shoot injection signal for controlling the injection of the pilot chute to the pilot chute injection unit based on the information on the state of the flying object detected by the detection unit.
Claims 1 to 16 are characterized in that, when the pilot chute ejection unit receives the pilot chute ejection signal, the pilot chute is ejected and deployed in advance before the parachute or the paraglider is deployed. The parachute or paraglider deploying device according to any one of the above items. With the aircraft
The parachute or paraglider deploying device according to any one of claims 1 to 17, which is coupled to the airframe.
An airframe comprising one or more propulsion mechanisms coupled to the airframe to propel the airframe. With the aircraft
The parachute or paraglider deploying device according to any one of claims 1 to 17, which is provided on one side of the airframe surface of the flying object.
An airbag device provided on the other side of the surface of the flying object and capable of deploying an airbag on the ground side when the parachute or paraglider is deployed.
An air vehicle characterized by being equipped with.

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