JP2006306264A - Parachute ejection device and unmanned aircraft - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a parachute ejection device which surely opens the parachute even if the parachute is ejected in any attitude during flight of an unmanned aircraft, and surely lands an airframe while the attitude of the airframe is kept stable after being opened. <P>SOLUTION: The parachute ejection device is equipped with a storage part 3 storing the parachute 9, a lid 5 covering the storage part 3, a hook 4 locking the lid 5 in storing the parachute 9, a spring 2 which deploys and operates the storage part 3 according to the lock releasing of the lid 5, and ejects the parachute 9 thereby, and cord 8 which is connected with the spring 2, and supports the parachute 9 along with the spring 2 after ejecting the parachute 9. The parachute can be supported at a higher position above a main wing thereby. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a parachute injection device for injecting a parachute for landing or collecting an unmanned aircraft, and an unmanned aircraft including the parachute injection device.

  When flying model airplanes, parachutes, etc. should be used to prevent the aircraft from crashing and causing harm to the surroundings in the event of an emergency such as when it is impossible to control due to radio interference or when it is impossible to control due to a control error. Means for reliably collecting the model airplane using the safety device is used.

A conventional parachute injection device is generally injected using a spring or the like built in the body. As an example of the umbrella opening method, when control is lost due to radio interference, the parachute stored in the storage area provided in the cockpit of the aircraft is weighted by a built-in spring by pressing the safety switch. In addition, a parachute injection device is known that can be injected together and landed safely (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 2002-200369 (page 6, FIG. 5)

  Further, as a device to be attached to a flighter, there is known a parachute injection device that injects gas into a parachute housing case and pushes the parachute to the outside by gas expansion (for example, Patent Document 2).

Japanese Patent Laid-Open No. 10-203491 (page 6, FIG. 6)

  When a conventional parachute injection device is installed on the upper surface of an aircraft body, the injected parachute receives wind pressure and flows behind the aircraft, interfering with rear structures such as a vertical tail, and the parachute is completely opened. There was a problem of being unable to umbrella.

  In addition, even if the parachute can be opened, the support part is in the immediate vicinity of the center of gravity of the aircraft, so the aircraft tends to fall with large vibrations even with slight disturbances, not only damaging the aircraft. There was a problem that the collision force when colliding with a person or an object increased. At this time, even if the parachute is installed at the rear of the aircraft so that the parachute mounting position is separated from the center of gravity of the aircraft, the nose is lowered with the nose down when opening the umbrella. Becomes larger.

  The present invention has been made to solve such a problem. The parachute is surely opened even if the parachute is ejected in any posture, and the posture of the fuselage is reliably maintained after opening. The purpose is to obtain a parachute injection device to land.

  A parachute injection device according to the present invention is provided with a lid, a storage part for storing the parachute, a locking part for locking the lid when the parachute is stored, and the storage part in response to unlocking of the lid. And a deployment part that ejects the parachute by the deployment, and a fiber member that is connected to the deployment part and supports the parachute together with the deployment part after the parachute is ejected.

  Also, a parachute, a lid having an engaging part at one end and a holding part at the other end, a support part supported rotatably with respect to a shaft provided on the aircraft body, and the parachute are accommodated. And a deployment having an elastic member that is supported by the airframe between the support and the storage unit and applies a deployment force to the lid in a state where the storage unit is biased by the lid. The lid is held by locking the holding portion of the lid in a state where the engaging portion of the lid and the lid are engaged with the body, and the holding of the lid is released by unlocking the holding portion. A locking member, and a fiber member having one end fixed to the airframe and the other end connected to the parachute and coupled to the developing portion between the one end and the other end. When locked, it is covered with the lid and stored in the storage part. Is, emitted by the deployment force of the elastic member during unlocking of the locking portion, the fiber members may be one that supports the development unit after the injection of the parachute.

  Moreover, you may provide the unmanned airplane provided with the said parachute injection apparatus.

According to the present invention, the support part of the parachute can be arranged at a sufficiently high position on the center of gravity, and the parachute opens from the support part as a base point, so that even when the parachute is swept backward by the wind pressure, the vertical tail Therefore, the parachute can be opened more reliably.

  Moreover, since the point of attachment of the parachute can be arranged at a sufficiently high position on the center of gravity, the falling posture can be further stabilized.

Embodiment 1 FIG.
Embodiment 1 according to the present invention will be described below with reference to the drawings. Various types of equipment are mounted on the airplane (hereinafter simply referred to as “airframe”) shown in the figure, but only the part that is the gist of the present invention will be described here.

FIG. 1 shows the structure of an airframe 1 and a parachute injection device according to Embodiment 1 of the present invention.
In FIG. 1, the fuselage 1 includes a main wing 100, a vertical tail 11, a horizontal tail 12, wheels 13, and a propulsion power unit 16. The wheel 13 is provided under the fuselage 1 so that the main wing 100 and the lower fuselage of the fuselage 1 can be prevented from coming into contact with the ground when landing. The propulsion power unit 16 gives thrust to the airframe 1, and FIG. 1 illustrates a propeller. Needless to say, the airframe 1 houses a motor for rotating the propeller and a power source for supplying electric power to the motor.

  The parachute injection device includes a spring 2, a storage portion 3, a clasp 4, a lid 5, a front fulcrum 6, a rear fulcrum 7, a string 8, and a parachute 9. The lid 5 has a concave surface, and the parachute 9 is covered with the lid 5 and accommodated inside the concave surface.

FIG. 2 shows a detailed configuration of the parachute injection apparatus according to Embodiment 1 of the present invention. In FIG. 1 and FIG. 2A, the rear fulcrum 7 is disposed behind the center of gravity of the airframe, and protrudes from the side surface of the airframe 1 to constitute a rotating shaft. The rear fulcrum 7 is provided in the vicinity of both wings behind the main wing 100, and is provided at two locations.
The spring 2 is formed so as to be folded back in a U shape, and the end portion of the spring 2 is bent in a spiral shape to constitute a torsion spring. The terminal end of the spring 2 has a straight portion 31. A helical portion of the torsion spring of the spring 2 is inserted into each rear fulcrum 7 and is pivotally supported with respect to the rear fulcrum 7. The torsion spring of the spring 2 constitutes a support portion, and the spring 2 is constrained to the rear fulcrum 7 by the support portion. The spring 2 is installed by being bent along the external shape of the upper surface of the airframe (specifically, the upper surface of the main wing 100) while being restrained by the rear fulcrum 7.
A storage portion 3 is provided at the tip of the U-shaped spring 2. The storage portion 3 is bent into an L-shaped handle shape, and the folded parachute 9 is stored in the handle shape portion of the storage portion 3. In this state, the lid 5 covers the parachute 9.

  An engagement groove 35 is provided at the upper end of the lid 5. The spring 2 is biased by the lid 5 with the parachute 9 stored therein, and the spring 2 abuts against the front fulcrum 6. Thus, the lid 5 is engaged with the front fulcrum 6 provided in front of the center of gravity of the machine body while the reaction force from the front fulcrum 6 is applied to the storage portion 3 of the spring 2. The front fulcrum 6 is disposed at two locations on both wings in proximity to or in contact with the leading edge of the main wing 100. The lower end of the lid 5 constitutes a holding part 33 protruding from the outer edge. The holding part 33 of the lid 5 is fixed by being sandwiched between the clasps 4. The clasp 4 is connected to the radio controlled model servo 10. When the clasp 4 is removed by the operation of the servo 10, the lid 5 opens with the front fulcrum 6 as a fulcrum. At the same time, the storage portion 3 jumps upward by the reaction force of the spring 2, and the parachute 9 is pushed upward by the spring of the storage portion 3. The clasp 4 constitutes a locking portion for holding the lid 5 on the body 1.

  Further, the end of the linear portion 31 of the spring 2 abuts on the fixed portion 32 and restrains the rotation of the spring 2. Accordingly, elastic energy is accumulated in the torsion spring of the spring 2 in a state where the lid 5 is fixed by the front fulcrum 6 and the clasp 4. As soon as the lid 5 is opened, the elastic energy of the torsion spring is released and torque is generated in the spring 2, and the spring 2 is developed with the rear fulcrum 7 as a fulcrum. That is, the spring 2 functions as an elastic member, and also functions as a deploying portion that deploys around the rear fulcrum 7 as a rotation center.

  Further, the string 8 connects the front of the fuselage and the tip of the spring 2 so that when the spring 2 jumps up from the fuselage, the tip of the spring 2 is fixed at a position higher than the vertical tail 11 almost directly above the center of gravity. It has been adjusted. The string 8 is made of a fiber member such as resin fiber or thread.

  Although FIG. 1 shows an example in which two piano wires (for example, wire diameters φ1 to φ2) are used as the spring 2, a single thin plate material may be used. The material of the spring 2 is not limited to a metal wire such as a piano wire, and may be other wire as long as it has bending elasticity. Any wire may be used as long as the bending stress of the wire is released and extended by holding and releasing the lid 5 so as to expand. For example, you may comprise with materials, such as carbon fiber or a bamboo string. Further, even if it is a hard material that does not bend itself, the same operation can be performed even if an elastic member having a function of generating a rotational force such as a torsion spring around the rear fulcrum 7 is used. In short, it is only necessary to constitute a support structure that unfolds as soon as the lid 5 opens and supports the parachute 9 together with the string 8. This support structure is preferably configured so as to form a triangular pyramid shape below the connecting portion (support portion 34) between the string 8 and the spring 2.

To release the clasp 4, for example, add one radio controller transceiver channel and use the servo to rotate the clasp 4 and release the latch holding of the lid 5 in response to a command from the radio controller. It is convenient to use the method to do.
Although not shown in FIG. 1, it goes without saying that a radio controller transceiver, a servo, a communication antenna, and various controllers for radio control are built in the body 1. Is omitted.

Next, in order to explain the gist of the invention according to this embodiment, the operation of the injection mechanism from the release of the clasp to the opening of the parachute will be described in more detail.
2 described above further shows an example of the operation of the parachute injection apparatus according to the first embodiment of the present invention. FIG. 2 (a) shows a state before the operation, FIG. 2 (b) shows a state in the first half of the operation, FIG. (c) shows the state in the latter half of the operation.
FIG. 3 is a flowchart showing a flow of operation from the release of the clasp to the opening of the parachute. The operation up to the parachute opening will be described below with reference to FIGS.

  As shown in FIG. 2 (a), the parachute 9 before the operation of the apparatus is stored in the storage unit 3 and is covered with the lid 5. The spring 2 is pushed under the storage portion 3 in a state of being bent along the body with the rear fulcrum 7 as a base point so as to have a reaction force in the direction of pushing out the parachute 9. Here, the holding portion 33 at the lower end of the lid 5 is held by the clasp 4, and the engaging groove 35 at the upper end is fixed to the airframe by the front fulcrum 6. For this reason, the parachute 9 does not jump out during flight due to the reaction force of the spring 2.

  In the example of FIG. 2, the base point of the spring 2 is a torsion spring as described above, and has the effect of further strengthening the reaction force of the spring 2.

  When collecting the parachute during the flight of the airframe 1, such as when the airframe 1 becomes inoperable or uncontrollable or when the airframe 1 is recovered, any means (rotation of the servo 10 in FIG. 2) is used. The clasp 4 is released (step S1). When the clasp 4 is released, the spring 2 is opened, and the reaction force causes the storage portion 3 and the lid 5 to rotate in the direction of lifting the parachute about the front fulcrum 6 (step). S2). The contact point between the lid 5 and the front fulcrum 6 is a mechanism that is removed by rotation, and the accommodating portion 3 and the lid 5 are rotated to some extent by the wind pressure received by the raised lid 5 and the accommodating portion 3 and the reaction force of the spring 2. At the time, the front fulcrum 6 is released (step S3).

  Note that FIG. 2 shows a clasp release mechanism using a servo as an example, but the clasp type and shape are not necessarily limited to this. If you have a mechanism that can reliably hold the lid so that the parachute does not open during flight and can be opened by switching the switch, for example, a simple sliding switch that operates by switching the switch on the controller side Etc. In addition, a push-pull solenoid may be installed. For example, in accordance with the lever principle, the latch 5 is usually pushed up by a push-pull solenoid to press the holding part of the lid 5, and when released, the lid 5 is released by pressing the lid 5 to release the latch 5. You may release. There are various kinds of such locking methods as long as the lid 5 can be held and released by any method.

  When the lid 5 is opened from the front fulcrum 6, it receives the reaction force and wind pressure of the spring 2, and the storage unit 3 rotates around the rear fulcrum 7 while opening the parachute 9 as shown in FIG. The process proceeds to the unfolding operation (step S4). This rotation stops when the string 8 connecting the tip of the spring 2 and the machine body is fully extended. At this time, since the spring 2 is adjusted so as not to return to the natural length, the reaction force of the spring 2 still exists, and the reaction force and the tension of the string 8 are balanced, The tip position of the spring 2 is fixed (step S5). At the same time, the parachute 9 is ejected (step S6). In this way, the parachute 9 is opened (step S7). FIG. 4 is a view showing a state where the parachute is completely opened.

  Here, since the length of the string 8 can be adjusted to a free length in advance, it is easy to adjust the parachute support portion 34 directly above the center of gravity of the aircraft. For example, if the cord 8 is an airframe having a weight of about 2 kg, one that supports a load of about 50 kg may be used. Further, by providing the turnback 21 between the parachute support part 34 and the parachute 9, the string connecting the parachute 9 and the support part 34 may be prevented from being twisted.

  The lid 5 is connected to the tip of the parachute 9 with a thread or the like, and has a function of making it easier to open the parachute by pulling the tip of the folded parachute 9 while being blown rearward by receiving wind pressure.

  The parachute support 34 composed of the spring 2 and the string 8 is fixed at a position higher than the vertical tail above the center of gravity 17 as shown in FIG. In the illustrated example, the center of gravity 17 and the height H2 of the support portion 34 are higher than the height H1 of the center of gravity 17 of the fuselage 1 and the vertical tail 11. In this way, the parachute 9 injected by the wind pressure and the reaction force of the spring 2 opens from the support portion, so that the parachute may be caught by a rear structure such as a vertical tail when the parachute is swept backward by the wind pressure. Becomes extremely small, and it becomes possible to open the parachute more reliably. Thereby, the more reliable collection | recovery by a parachute can be implement | achieved and the body 1 can be landed without damage.

  If the parachute is attached to the nose or tail for recovery, the parachute will touch the ground from the nose or tail when it settles on the ground, causing damage to the aircraft as well as colliding with people and equipment. In this embodiment, the parachute force point is sufficiently higher than the vertical tail height just above the center of gravity by adjusting the string 8 in this embodiment, so that the falling posture is easy to stabilize, and the aircraft keeps the level. Since it is lowered and grounded, the possibility of damaging the aircraft or damaging people and equipment can be reduced.

In this way, by separating the center of gravity of the airframe 1 from the support portion 34, when the airframe 1 swings in the lateral direction with the support portion 34 as an applied point while hanging from the parachute 9, It works to prevent the posture from tilting. For example, assuming that the center of gravity of the aircraft moves 2cm laterally from the parachute landing point due to disturbance, in that case, if the height L from the center of gravity of the aircraft to the landing point is 5cm, the tilt angle of the aircraft is arcsin (2/5) = 23.6 degrees. Further, when L is 10 cm, arcsin (2/10) = 11.5 degrees, and when L is 20 cm, arcsin (2/20) = 5.7 degrees. Although it depends on the shape of the airframe 1, L is preferably about 20% of the total length.
In other words, if the length of the parachute 9 from the center of gravity and the center of gravity of the parachute 9 is doubled when the aircraft receives a lateral force due to wind or the like, the inclination of the aircraft can be halved. The falling posture of the airframe 1 becomes more stable by separating the distance.
If the aircraft is tilted 20 degrees, the front and rear ends and the main wing tip of the aircraft 1 will touch the ground earlier than the wheels 13, causing damage.

  Moreover, in this embodiment, since the attitude | position at the time of a fall can be maintained substantially horizontal, the effect of further reducing a descent speed can also be anticipated by the resistance of a main wing.

  Furthermore, in the parachute injection mechanism according to this embodiment, the spring 2 can be installed outside the airframe 1 along the surface of the main wing. Further, since the lid 5 can also be installed outside the machine body 1, most of the components can be installed outside the machine body except for a drive mechanism that operates the clasp 4. For this reason, there are few restrictions on mounting on an airframe, and it is easy to attach it to an existing model airplane body retrofit.

Embodiment 2. FIG.
FIG. 5 shows a parachute injection mechanism according to the second embodiment.
In Embodiment 1 described above, the spring 2 is disposed outside the body. However, when the spring 2 is placed along the body surface, the groove 40 is provided on the body surface in accordance with the spring 2, and the spring 2 is accommodated in the groove 40. Thus, it may be configured not to protrude to the outside of the machine body, and the same operation can be performed by such a configuration. In the example of FIG. 5, the groove 40 is provided on the upper surface of the main wing 100.

  In the parachute injection mechanism according to the second embodiment, it is possible to reduce an increase in air resistance during flight, and it is possible to mount the parachute injection device with less influence on normal flight as an airplane. .

Embodiment 3 FIG.
FIG. 6 shows a parachute injection mechanism according to the third embodiment.
By covering the spring 2 along the surface of the machine body with a film-like film body 41 that can be easily broken, the spring 2 may be configured not to protrude outside the machine body as in the second embodiment. The same operation can be performed depending on the configuration. As the film-like body 41, a cellophane or the like may be used. In the example of FIG. 6, the film-like body 41 is attached so that the upper surface of the main wing 100 covers the spring 2.

In the parachute injection mechanism according to the third embodiment, the increase in air resistance during flight can be further reduced, and the parachute injection device can be mounted with less influence on normal flight as an airplane. is there.

It is a figure which shows the structure of the parachute injection apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the parachute injection apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the flow of the operation | movement which concerns on Embodiment 1 of this invention. It is a figure which shows the state after the parachute opening operation which concerns on Embodiment 1 of this invention. It is a figure which shows the structure of the parachute injection apparatus which concerns on Embodiment 2 of this invention. It is a figure which shows the structure of the parachute injection apparatus which concerns on Embodiment 3 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Airplane, 2 Spring, 3 Storage part, 4 Clasp, 5 Lid, 6 Front fulcrum, 7 Back fulcrum, 8 String, 9 Parachute, 10 Servo, 40 Groove, 41 Film-like body.

Claims (9)

A lid,
A storage section for storing the parachute;
A locking portion for locking the lid when the parachute is stored;
Expanding the storage portion in response to unlocking of the lid, a deployment portion for injecting the parachute by the deployment,
A fiber member connected to the development part and supporting the parachute together with the development part after the injection of the parachute;
Parachute injection device equipped with. With parachute,
A lid having an engaging portion at one end and a holding portion at the other end;
A support portion rotatably supported with respect to a shaft provided in an aircraft body; and a storage portion for storing the parachute, and the support portion and the storage portion in a state where the storage portion is biased by the lid. A deploying portion having an elastic member that is supported by the airframe and gives a deploying force to the lid,
A locking portion that holds the lid by locking the holding portion of the lid and releases the holding of the lid by releasing the locking of the holding portion while the engaging portion of the lid is engaged with the airframe. When,
One end is fixed to the airframe, the other end is connected to the parachute, and a fiber member coupled to the development portion between the one end and the other end;
With
The parachute is covered with the lid when the locking part is locked and is stored in the storage part, and is ejected by a deployment force of the elastic member when the locking part is unlocked,
The parachute injection device according to claim 1, wherein the fiber member supports the development part after the parachute is injected.   The parachute according to claim 1 or 2, wherein a support point of the deployment part by the fiber member is located immediately above the center of gravity of the aircraft body and above the uppermost point of the aircraft body. Injection device.   The parachute injection device according to any one of claims 1 to 3, wherein the development part is made of an elastic wire and is developed by extension of the wire.   The parachute injection device according to any one of claims 1 to 4, wherein the expansion part includes a torsion spring that applies a rotational force to the expansion part.   The parachute injection device according to any one of claims 1 to 5, wherein the lid and the top of the parachute are connected to each other.   The parachute injection device according to any one of claims 1 to 6, further comprising a groove for allowing the elastic member to reside in the airframe.   The parachute injection device according to any one of claims 1 to 7, wherein the elastic member is provided with a film-like body that is covered before the parachute is ejected and is broken when the parachute is ejected.   An unmanned aerial vehicle comprising the parachute injection device according to any one of claims 1 to 8.

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