JP2012001044A - Attitude control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an attitude control device capable of controlling the attitude at the landing of a flight vehicle.SOLUTION: The attitude control device 90 includes at least two or more protrusions 4 extending from a bottom 31 of a body 3 of the flight vehicle 2 toward a lower side. The protrusions 4 receive an input of load inclined to a vertical direction of the body 3. Namely, when the flight vehicle 2 lands while being inclined, one protrusion 4 of the protrusions 4 first collides therewith to correct the attitude of the flight vehicle 2 while being compressed and deformed into high rigidity, thus controlling the attitude of the flight vehicle 2.

Description

  The present invention relates to an attitude control device for controlling the attitude of a flying object when it touches the ground.

  Conventionally, there is a glider disclosed in the following Patent Document 1 as an impact absorbing structure that absorbs an impact when a flying object receives an impact. This glider includes FRP energy absorbing members in front of and below the cockpit and toward the front and the bottom of the aircraft. And by setting it as such a structure, for example, at the time of trunk landing, impact energy is efficiently absorbed by the energy absorbing member.

JP-A-7-224875

  However, in the above-described glider, when the aircraft is grounded particularly while tilting in the rolling direction, there is a possibility that the energy absorbing member may fall sideways and not function normally. Therefore, there is a demand for a technique that can adjust the attitude of the aircraft when the aircraft is grounded while tilting.

  Accordingly, an object of the present invention is to provide an attitude control device that can adjust the attitude of the flying object when it is in contact with the ground.

  The attitude control device according to the present invention includes at least two protrusions extending downward from the bottom surface of the fuselage of the flying object, and the protrusions fly when a load inclined with respect to the vertical direction of the fuselage is input. It is characterized by high rigidity while being compressed and deformed so as to correct the posture of the body.

  According to such an attitude control device, when the flying object is grounded while tilting, one of the two or more protruding parts extending downward from the bottom surface of the fuselage of the flying object first collides and is compressed. While deforming, it becomes highly rigid and the attitude of the flying object is corrected, so that the attitude of the flying object at the time of grounding can be adjusted.

  Further, in the attitude control device according to the present invention, the protrusion has a hollow member, and when a shock absorbing member is provided in the hollow portion of the protrusion, the load input to the protrusion is Since it is absorbed by the impact absorbing member, the load for tilting the attitude of the flying object is reduced, and the attitude of the flying object can be further adjusted.

  Further, in the attitude control device according to the present invention, when the impact absorbing member is provided in a portion other than the portion provided with the protruding portion on the bottom surface, the impact load is absorbed by the impact absorbing member. The load to tilt the attitude of the aircraft is reduced, and the landing attitude of the flying object can be adjusted.

  Further, in the attitude control device according to the present invention, the protrusion is attached to the bottom surface so as to be swingable, and is attached between the bottom surface and the protrusion so as to be rotatable with respect to the bottom surface. A rotating body that rotates relative to the bottom surface is input when a load that is inclined with respect to is input. The protrusion and the rotating body are connected by a wire, and when a load is input to the protrusion, the rotating body rotates. It is preferable that the wire is wound around the rotating body so that the protruding portion stands upright with respect to the load input surface. With such a configuration, the rotating body rotates due to the load input to the protrusion, and the wire is wound around the rotating body, whereby the protrusion is pulled by the wire and stands upright with respect to the load input surface. . Therefore, the lateral fall of the protrusion is suppressed, and the attitude of the flying object can be further adjusted.

  ADVANTAGE OF THE INVENTION According to this invention, the attitude | position control apparatus which can adjust the attitude | position at the time of the grounding of a flying body can be provided.

It is a schematic side view which shows the flying body provided with the attitude | position control apparatus which concerns on 1st Embodiment of this invention. It is a front view when the flying body shown in FIG. 1 inclines and is grounded, and is an operation explanatory view of the attitude control device. FIG. 3 is an operation explanatory diagram of the attitude control device following FIG. 2. It is operation | movement explanatory drawing of the attitude | position control apparatus following FIG. It is a longitudinal cross-sectional view which shows the principal part of the attitude | position control apparatus which concerns on 2nd Embodiment of this invention. It is a longitudinal cross-sectional view which shows the principal part of the attitude | position control apparatus which concerns on 3rd Embodiment of this invention. It is a longitudinal cross-sectional view which shows the principal part of the attitude | position control apparatus which concerns on 4th Embodiment of this invention. It is a schematic side view which shows the flying body provided with the attitude | position control apparatus which concerns on 5th Embodiment of this invention. It is a front view of the flying body shown in FIG. It is a schematic front view which shows the flying body provided with the attitude | position control apparatus which concerns on 6th Embodiment of this invention, and is operation | movement explanatory drawing of an attitude | position control apparatus when a flying body inclines and grounds. It is operation | movement explanatory drawing of the attitude | position control apparatus following FIG. It is a schematic front view which shows the flying body provided with the attitude | position control apparatus which concerns on 7th Embodiment of this invention. It is a schematic side view which shows the flying body provided with the attitude | position control apparatus which concerns on 8th Embodiment of this invention.

  Hereinafter, preferred embodiments of an attitude control device according to the present invention will be described in detail with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a schematic side view showing a flying object equipped with the attitude control device according to the first embodiment of the present invention, and FIG. 2 is a front view when the flying object shown in FIG. It is operation | movement explanatory drawing of an attitude | position control apparatus.

  The attitude control device 90 according to the present embodiment is mounted on the flying object 2 and controls the attitude of the flying object 2 when it contacts the ground. Here, the flying object 2 is an aircraft including a small aircraft. The attitude control device 90 includes the protrusion 4.

  The protrusions 4 extend downward from the bottom surface 31 of the fuselage 3 constituting the flying body 2, and are provided at a total of four locations, one pair apart from each other in the width direction at the front part and the rear part. Specifically, these protrusions 4 extend along the vertical direction of the body 3 in a front view, and a cylindrical outer cylinder 41 extending downward from the bottom surface 31 is a cylinder that is approximately the same length as the outer cylinder 41. The inner cylinder 42 is inserted, and the lower end of the inner cylinder 42 is configured to protrude below the lower end of the outer cylinder 41 for a predetermined length. The inner cylinder 42 is held by the outer cylinder 41 in a slidable state.

  Next, operations and effects of the attitude control device 90 according to the present embodiment will be described.

  As shown in FIG. 2, for example, when the flying object 2 is tilted in the rolling right rotation direction and comes into contact with the ground, the first protrusion 4 provided on the front right side of the flying object 2 first collides with the ground 1.

  FIG. 3 is an operation explanatory diagram of the attitude control device following FIG.

  Due to the collision, the load F1 tilted with respect to the vertical direction of the body 3 is inputted to the protrusion 4 on the right side of the front part, the inner cylinder 42 slides with respect to the outer cylinder 41, and the protrusion 4 is compressed. Deform. Then, the inner cylinder 42 cannot slide, and the protrusion 4 becomes highly rigid.

  FIG. 4 is an operation explanatory diagram of the attitude control device following FIG.

  Thus, since the protrusion 4 on the right side of the front part is compressed and deformed and becomes highly rigid, the flying object 2 is tilted in the rolling counterclockwise direction, that is, in the direction of correcting the posture, with the protrusion 4 as a fulcrum. Therefore, this time, the projection 4 provided on the left side of the front part collides with the ground 1, and the load F2 tilted with respect to the vertical direction of the body 3 is input and is compressed and deformed. Then, sequentially, the protrusion 4 provided on the rear also collides with the ground 1 and compressively deforms to become highly rigid, so that the attitude of the flying object 2 is adjusted.

  As described above, according to the attitude control device 90 according to the present embodiment, when the flying object 2 is grounded while tilting, one of the two or more protrusions 4 extending downward from the bottom surface 31. First collides, becomes highly rigid while being compressed and deformed, the attitude of the flying object 2 is corrected, and the attitude of the flying object 2 when touched can be adjusted.

  When the flying object 2 is tilted in the rolling counterclockwise direction and comes into contact with the ground, the first protrusion 4 provided on the left side of the front part first collides with the ground 1, and thereafter the same operations and effects as described above are obtained. . Therefore, the position of the protrusion 4 is not limited as long as two or more protrusions 4 are arranged so as to correct the posture of the flying object 2 when the flying object 2 is grounded while tilting.

  FIG. 5 is a longitudinal sectional view showing a main part of the attitude control device according to the second embodiment of the present invention.

  The difference between the attitude control device according to the second embodiment and the attitude control device 90 according to the first embodiment described above is that the protrusions 4 are filled with a honeycomb structure (impact absorbing member) 43 as the protrusions. This is a point using the protrusion 4A.

  The honeycomb structure 43 is formed so that the axial direction of the cells forming the honeycomb structure 43 coincides with the axial direction of the outer cylinder 41 and the inner cylinder 42, that is, the direction in which the protrusion 4A is compressed and deformed. In addition, the honeycomb structure 43 is filled so that the shock absorption characteristics coincide with the most excellent direction. Although not shown in the figure, the cell size of the honeycomb structure 43 is fine at the portion close to the bottom surface 31 and increases as the distance from the bottom surface 31 increases.

  When the projecting portion 4A having such a configuration collides with the ground 1, when the inner cylinder 42 slides and the projecting portion 4A is compressively deformed, the honeycomb structure 43 is sequentially broken including plastic deformation and input to the projecting portion 4A. The applied load is absorbed by the honeycomb structure 43. For this reason, the load which tends to tilt the attitude of the flying object 2 is reduced, and the attitude of the flying object 2 can be further adjusted. Note that such sequential fracture including plastic deformation by the honeycomb structure 43 is advantageous because the total amount capable of absorbing shock is larger than when elastic deformation is used.

  Further, in the present embodiment, since the cell axis of the honeycomb structure 43 and the axial direction of the outer cylinder 41 and the inner cylinder 42 coincide with each other, sequential destruction including plastic deformation of the honeycomb structure 43 is affected by the impact. As a result of proceeding in a fixed direction with the most excellent absorption characteristics, the load input to the protrusion 4A can be absorbed well.

  In addition, the effect of posture control can be adjusted by making the cell size of the honeycomb structure 43 finer at a portion near the bottom surface 31 and increasing as the distance from the bottom surface 31 increases.

  FIG. 6 is a longitudinal sectional view showing a main part of the attitude control device according to the third embodiment of the present invention.

  The attitude control device according to the third embodiment is different from the attitude control device 90 according to the first embodiment described above in that a projection having an inverted truncated cone shape having a through hole in the shaft center is used instead of the projection 4. This is a point using the part 4B. The protrusion 4B has the thinnest thickness at the lower end and is continuously thicker toward the upper end side.

  When the projecting portion 4B having such a configuration collides with the ground 1, it receives a load at a thin portion with low rigidity at the beginning of the collision, and receives a load at a thick portion with high rigidity as compression deformation progresses. That is, as in the first embodiment, when a load inclined with respect to the vertical direction of the fuselage 3 is input, the protrusion 4B becomes highly rigid while being compressed and deformed so as to correct the attitude of the flying object 2.

  FIG. 7 is a longitudinal sectional view showing a main part of the attitude control device according to the fourth embodiment of the present invention.

  The attitude control device according to the fourth embodiment is different from the attitude control device according to the third embodiment described above in that a protrusion having an outer cylinder 44, an intermediate cylinder 45, and an inner cylinder 46 instead of the protrusion 4B. This is a point using 4C. Specifically, the protrusion 4 </ b> C has a cylindrical middle cylinder 45 longer than the outer cylinder 44 fitted to the inner circumference of the cylindrical outer cylinder 44, and further, the middle cylinder 45 is arranged on the inner circumference of the middle cylinder 45. A longer cylindrical inner cylinder 46 is fitted.

  According to the protrusion 4C having such a configuration, the thickness at the lower end is the thinnest, and the thickness gradually increases toward the upper end side where the middle cylinder 45 and the outer cylinder 44 are present. Has almost the same actions and effects.

  Incidentally, the rigidity of the protrusion 4C may be further adjusted by changing the materials of the outer cylinder 44, the middle cylinder 45, and the inner cylinder 46.

  The protrusion 4C is not limited to a triple cylinder, and may be a double cylinder or a quadruple cylinder or more.

  FIG. 8 is a schematic side view showing a flying object provided with the attitude control device according to the fifth embodiment of the present invention, and FIG. 9 is a front view of the flying object shown in FIG.

  The posture control device 91 according to the fifth embodiment is different from the posture control device 90 according to the first embodiment shown in FIGS. 1 and 2 in that the portion other than the portion provided with the protrusion 4 on the bottom surface 31, Specifically, a honeycomb structure (impact absorbing member) 5 is provided in a rectangular region surrounded by four protrusions 4. The honeycomb structure 5 is provided so that the axial direction of the cells constituting the honeycomb structure 5 coincides with the axial direction of the protrusions 4.

  When the flying vehicle 2 provided with such a posture control device 91 is inclined and grounded, one of the two or more projections 4 first collides and compressively deforms, and along with this compression deformation, the honeycomb structure The body 5 sequentially breaks including plastic deformation and absorbs the collision load. For this reason, in addition to the action and effect of the protrusions 4 of the first embodiment, the honeycomb structure 5 reduces the load for tilting the attitude of the flying object 2, and further adjusts the attitude of the flying object 2. Can do. In addition, since the honeycomb structure can be used in a wider area in the fifth embodiment than in the second embodiment, it is possible to use a honeycomb that is plastically deformed with low stress, and it is necessary to provide a strong support structure. Absent.

  FIG. 10 is a schematic front view showing a flying object provided with the attitude control device according to the sixth embodiment of the present invention, and FIG. 11 is an operation explanatory diagram of the attitude control device when the flying object is inclined and grounded.

  The posture control device 92 according to the sixth embodiment is different from the posture control device 90 according to the first embodiment in that the posture control device 92 is swingably attached to the bottom surface 31 in place of the protrusion 4 and a collision load is input. Then, it is the point which used the projection part 6 which becomes upright with respect to a collision surface (load input surface) and becomes high rigidity while compressively deforming.

  A rotating body 7 is rotatably attached to the bottom surface 31 between the protruding portion 6 and the bottom surface 31, and the rotating body 7 and the protruding portion 6 are connected by a wire 8.

  Specifically, the protruding portion 6 includes a case 61, a lid 62, and a honeycomb structure 63.

  The lid 62 has a substantially disk shape and covers the upper surface of the cylindrical case 61 and is supported on the bottom surface 31 so as to be swingable. The lid 62 has a tapered shape in which the outer diameter of the upper end portion is larger than the inner diameter of the case 61 and becomes narrower downward. An annular inner claw 65 that protrudes toward the surface is provided.

  The case 61 includes an annular outer claw 64 that protrudes inward at the upper end portion thereof. The inner peripheral surface of the outer claw 64 has a tapered shape that extends outward toward the upper side, and the taper angle is substantially the same as the taper angle of the outer peripheral surface of the lid 62. The lower part of the lid 62 enters the case 61, the outer claw 64 and the inner claw 65 face each other in the vertical direction, the outer claw 64 prevents the inner claw 65 from being detached upward, and the lid 62 It is configured to prevent downward withdrawal.

  The honeycomb structure 63 is attached to the inside surrounded by the case 61 and the lid 62. The honeycomb structure 63 is provided so that the axial direction of the cells constituting the honeycomb structure 63 coincides with the axial direction of the case 61 and the lid 62.

  The rotating body 7 has a disc shape and is provided such that its axis is parallel to the front-rear direction of the body 3 and is orthogonal to the axis of the case 61.

  The wire 8 is connected to the shaft of the rotating body 7 and is configured to be wound around the shaft when the rotating body 7 rotates. The wire 8 is provided inside the body 3 in the width direction.

  Next, operations and effects of the attitude control device 92 according to the present embodiment will be described.

  As shown in FIG. 10, when the flying object 2 is brought into contact with the ground in a clockwise rotation in the rolling direction, for example, the first protrusion 6 provided on the front right side of the flying object 2 first collides with the ground 1. Here, as shown in FIG. 10, since the protrusion 6 is swingably attached to the bottom surface 31, it collides vertically with the ground 1.

  FIG. 11 is an operation explanatory diagram of the attitude control device 92 following FIG.

  At this time, as shown in FIG. 11, a load F <b> 1 tilted with respect to the vertical direction of the body 3 is input from the ground 1 to the protrusion 6, and the rotating body 7 comes into contact with the bottom surface 31 and rotates. Of the reaction force F <b> 1 generated between the body 7 and the bottom surface 31, the rotating body 7 rotates with respect to the bottom surface 31 by the tangential component force F <b> 3 of the rotating body 7, and the wire 8 is wound around the rotating body 7. Then, the protrusion 6 is pulled by the wire 8. Therefore, even if the protrusion 6 is about to fall sideways in the width direction of the body 3, the wire 8 is wound around the rotating body 7 so that the protrusion 6 stands upright with respect to the load input surface. Sideways falling down is suppressed.

  In this state, the lid 62 and the outer claw 64 abut against each other, the lid 62 pushes the case 61 outward and presses the honeycomb structure 63, and the honeycomb structure 63 is plastic while the protrusion 6 is kept upright. Sequential destruction including deformation causes the protrusion 6 to compressively deform. Then, the honeycomb structure 63 cannot be plastically deformed (sequentially broken), and the protrusion 6 becomes highly rigid. Thereafter, as in the first embodiment, the rolling structure is tilted in the left rotation direction, that is, in the direction of correcting the attitude of the flying object, The posture can be adjusted.

  Further, as described above, since the honeycomb structure 63 sequentially breaks including plastic deformation, the load input to the protrusions 6 is absorbed by the honeycomb structure 63, and as a result, the attitude of the flying object 2 is inclined. The load to be reduced is further reduced, and the attitude of the flying object 2 can be adjusted.

  Further, since the protrusion 6 is pulled by the wire 8 by the rotating body 7 and the wire 8 and stands upright with respect to the load input surface (collision surface), the lateral fall of the protrusion 6 is suppressed, and the flying body is further improved. The posture can be adjusted.

  In addition, since the rotation of the protrusion 6 is suppressed by the rotating body 7 and the wire 8 as described above, the axial direction of the cells constituting the honeycomb structure 63 coincides with the direction of the load F1. The load F1 input to the protrusion 6 can be absorbed well.

  FIG. 12: is a schematic front view which shows the flying body provided with the attitude | position control apparatus based on 7th Embodiment of this invention.

  In the posture control device 93 according to the seventh embodiment, the posture control device 92 according to the sixth embodiment is turned upside down and the protrusion 6 is attached to the bottom surface 31. Is rotatable with respect to the ground plane. The wire 8 is disposed on the inner side in the width direction of the body 3.

  The action and effect of the attitude control device 93 are different from the action and effect of the attitude control device 92 according to the sixth embodiment. The flying vehicle 2 including the attitude control device 93 is inclined to the right in the rolling direction and is grounded. In this case, first, the rotating body 7 provided on the front right side of the flying object 2 collides with the ground 1, and the rotating object 7 is rotated by the collision so that the wire 8 is wound and the protrusion 6 is pulled, thereby the flying object 2 is pulled. This is the point where the posture is corrected. Thus, even with the configuration like the attitude control device 93 according to the present embodiment, the attitude of the flying object 2 at the time of grounding can be adjusted, like the attitude control device 92 according to the sixth embodiment.

  FIG. 13: is a schematic side view which shows the flying body provided with the attitude | position control apparatus based on 8th Embodiment of this invention.

  The posture control device 94 according to the eighth embodiment is different from the posture control device 93 according to the seventh embodiment in that the axis of the rotating body 7 faces the width direction of the body 3 and the wire 8 is connected to the body. 3, the protrusion 6, the rotating body 7, and the wire 8 are attached so as to be arranged on the inner side in the front-rear direction.

  When this attitude control device 94 is used, the same effect as the attitude control device 93 according to the seventh embodiment is achieved when the flying object 2 is grounded in the pitch direction, and the attitude of the flying object 2 in the pitch direction is adjusted. be able to.

  In addition, this invention is not limited to embodiment mentioned above. For example, in the third embodiment and the fourth embodiment described above, the protrusion 4B and the protrusion 4C are hollow, but a honeycomb structure may be provided in the hollow portion as in the second embodiment.

  2 ... flying body, 3 ... fuselage, 4, 4A, 4B, 4C, 6 ... projection, 5 ... honeycomb structure (shock absorbing member), 7 ... rotating body, 8 ... wire, 31 ... bottom surface, 43 ... honeycomb structure Body (shock absorbing member), 90, 91, 92, 93, 94 ... posture control device.

Claims (4)

Including at least two protrusions extending downward from the bottom of the fuselage of the aircraft,
When the load inclined with respect to the vertical direction of the fuselage is input, the protruding portion becomes highly rigid while compressively deforming so as to correct the attitude of the flying object.
An attitude control device characterized by the above. The protrusion has a hollow member,
An impact absorbing member is provided in the hollow portion of the protrusion.
The attitude control device according to claim 1. An impact absorbing member is provided in a portion other than the portion provided with the protrusion on the bottom surface,
The attitude control device according to claim 1 or 2, wherein The protrusion is swingably attached to the bottom surface,
Rotation attached to the bottom surface between the bottom surface and the protruding portion, and rotating with respect to the bottom surface when a load inclined with respect to the vertical direction of the body is input to the protruding portion. Equipped with a body,
The protrusion and the rotating body are connected by a wire, and when the load is input to the protrusion, the rotation of the rotating body causes the protrusion to stand upright with respect to the load input surface. The wire is wound around the rotating body;
The attitude control apparatus according to any one of claims 1 to 3, wherein the attitude control apparatus is characterized in that

Images