JP2016026946A - Ground traveling flight vehicle having function for horizontalizing flight vehicle body independently of inclination of protection frame axis - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flight vehicle body having one propulsion part or propulsion parts, an axle which is disposed so as to be perpendicular to a main travel direction, and a protection frame which encloses the flight vehicle body in a three-dimensional manner.SOLUTION: In a flight vehicle, an axle 11 is attached to a flight vehicle body 1 through an elastic body 13 and a damper 15. When the flight vehicle horizontally travels on a vertical wall 2, a propulsion part inclines in a horizontal direction. Since gravitational force acts on the flight vehicle body in a vertically downward direction, the propulsion part is also inclined to a vertically upward direction in a two-dimensional manner by the gravitational force to obtain upward lifting force and allow the flight vehicle to horizontally travel on the vertical wall. Further, when the flight vehicle travels on a ceiling 6 to capture images with a camera, the flight vehicle body equipped with the camera serving as an inspection device is kept in a horizontal state and captures the images of a ceiling surface in a horizontal manner even if irregularities are formed on the ceiling surface. Furthermore, the flight vehicle protects the flight vehicle body and the inspection device mounted thereon with an impact and vibration absorption function achieved by the elastic body and the damper.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an aircraft body having a single propulsion unit disposed at the center or a plurality of propulsion units disposed symmetrically with respect to the main traveling direction, and an axle disposed so as to be perpendicular to the main traveling direction. And a protection frame that three-dimensionally encloses a pair of wheels or a pair of aircraft bodies that can rotate on an axle.

  The prior art relating to a rotating vehicle capable of running on land or a flying object with a protection frame, which is the subject of the present invention, is a flying object (hereinafter referred to as a propeller driving device, a jet type propulsion device, etc.) having no protection frame. (Aircraft body). For example, a helicopter type such as Non-Patent Documents 1 and 2, an airship type such as Non-Patent Document 3, and an aircraft type such as Non-Patent Document 4. On the other hand, in Patent Document 1, an airframe body in which a plurality of rotors (propellers) are disposed on an airframe, and the rotor disposed inside the frame by two-dimensionally surrounding the rotor with a protection frame. An aircraft body for preventing contact with an obstacle is disclosed.

JP 2011-046355 A

Makoto Tahara, Kenzo Nonami “Achieving Multi-rotor Helicopter by General-purpose Aircraft Design Method and Cost Reduction” Transactions of the Japan Society of Mechanical Engineers (C), Vol. 78, No. 787 (2012), pp.872-882 Daigo Fujiwara, Shibamatama, Kensaku Hazawa, Kenzo Nonami “Autonomous Small Unmanned Helicopter H∞ Hovering Control and Guidance Control” The Japan Society of Mechanical Engineers, Vol.70, No.697 (2004), pp.1708-1714 Manabu Yamada, Yasuhiro Taki, Yasuyuki Funahashi “Control of Global Position and Attitude of Airship System for Steady Wind” The Japan Society of Mechanical Engineers, Vol. 76, No. 767 (2010), pp.1770-1779 Rogelio Lozano “Unmanned Aerial Vehicles” ISTE Ltd and John Wiley & Sons, Inc. (2010) pp.2-6

  However, the conventional aircraft body has the following problems. That is, the aircraft body having the propulsion device (propeller drive device, jet type propulsion device, etc.) disclosed in Non-Patent Documents 1 to 4 and the aircraft body disclosed in Patent Document 1 have the following problems. There is.

(Problems of the aircraft body)
1) Since there is always a flight to move, a force to lift the flying body is always necessary. Therefore, a great deal of energy is required and the flight time is limited.
2) Cannot move on land.

In order to solve the above problems, the inventors have made an invention (hereinafter referred to as a flying body) in which a three-dimensional protection frame for protecting a necessary part of an existing flying body is attached to the flying body. This does not cause damage to the aircraft body even if it collides with an obstacle that exists in three-dimensional space, reduces damage during landing or crash, and protects the aircraft body and the mounting equipment attached to it Is the body. Therefore, even if the flying object is landed or crashed, it can travel on all directions on the land. Hereinafter, the “aircraft” refers to a form including a main body and a protection frame. Since it can move on land, it does not have to lift the flying object, and the travel time can be extended. Therefore, the problem of the above-mentioned flying body can be solved.

The present invention can be applied to inspection of aging tunnels, bridge ceilings, walls, and the like as uses of flying objects. That is, it is possible to collect data such as photographing of the surface of a tunnel or a bridge by mounting an inspection device such as a camera or a contact sensor on the flying object.
Here, in order to fix and attach the axle which attaches a wheel or a protection frame to the main part of the flying body which carries inspection equipment, there are the following two problems.
(Problem 1)
Cannot run horizontally on a vertical wall. The flying object of the present invention travels with the propulsion unit (aircraft body) tilted in the traveling direction. Therefore, when traveling horizontally on a vertical wall, the propulsion unit is tilted in the horizontal direction to obtain propulsive force (lift), but there is no vertical upward force, so the gravity of the airframe body causes it to slide horizontally while sliding down the wall surface. Travel in the direction.
(Problem 2)
Since the flying body and the protection frame (wheels) have an integral structure, their postures are equal. Therefore, as shown in FIG. 9, when the axle of the protect frame, which is a wheel, is tilted due to unevenness on the ceiling, the flying vehicle body and the inspection equipment (camera etc.) mounted also tilt. Therefore, the camera cannot shoot horizontally.

The present invention is to provide an aircraft that solves the problems 1 and 2 described above.

In order to achieve the above object, the present invention is as follows.
Invention 1 includes a vehicle body having a single propulsion unit disposed in the center or a plurality of propulsion units disposed symmetrically with respect to the main traveling direction, and an axle disposed so as to be perpendicular to the main traveling direction. And a protect frame that three-dimensionally encloses the pair of wheels or the pair of aircraft bodies that can rotate on the axle, and the axle is connected to the aircraft body via an elastic body and a damper, It is a flying body characterized by being attached.
A second aspect of the present invention is the flying body according to the first aspect, wherein the pair of elastic bodies and the damper are provided symmetrically with respect to the main traveling direction.
A third aspect of the present invention is the flying body according to the second aspect, wherein the axle is divided.
A fourth aspect of the present invention is the flying body according to the first aspect, wherein the axle is two-dimensionally restrained and attached to the flying body.

The invention 1 is characterized in that an axle for attaching a protection frame or a wheel and an aircraft body on which an inspection device is mounted are attached via an elastic body and a damper. Therefore, when the flying object travels horizontally on a vertical wall, the propulsion unit is inclined in the horizontal direction. Here, since a heavy battery or the like is mounted on the lower part of the aircraft body and vertical downward gravity is working, the propulsion unit also tilts two-dimensionally vertically upward due to gravity and obtains upward lift be able to. Therefore, the flying object can travel horizontally on the vertical wall.
Further, when shooting on the camera while traveling on the ceiling surface, even if the ceiling surface is uneven, the aircraft body on which the inspection equipment is mounted can be kept horizontal, and the aircraft can image the ceiling surface horizontally.
In addition, it is possible to protect the flying body and the mounted inspection equipment by the function of absorbing the shock and vibration of the elastic body and the damper.
Since the invention 2 is provided with the pair of elastic bodies and the damper symmetrically with respect to the main traveling direction, the flying body main body can be stably controlled with respect to the axle.
In the invention 3, since the axle is divided, the influence on the other wheel can be reduced when the one wheel or the protection frame gets over the step or the like. Therefore, the flying of the flying object can be stabilized.
In the invention 4, the axle is two-dimensionally restrained and attached to the flying body, whereby the flying body is restrained from bending in the horizontal direction with respect to the axle and is bent only in the vertical direction. is there. The axle and the flying body can be attached to one place by one elastic body and damper.

The structure of the flying object (alpha) in 1st Embodiment of this invention is shown. However, the flying body 1 and the propulsion unit 3 may be installed on the upper part of the shaft 11. The case where the flying object α in the first embodiment travels horizontally on a vertical wall is shown. (B) is a front view, (a) is a plan view, and (c) is a right side view. X represents a vertical direction, and Y represents a horizontal direction. FIG. 3 shows a state of force when the flying object α in the first embodiment travels horizontally (Y direction) on a vertical wall (viewed from above). FIG. 2 shows a state of force when the flying object α in the first embodiment travels horizontally (Y direction) on a vertical wall (viewed from the side). The case where the flying object α in the first embodiment ascends in the air, hits the ceiling, and travels on the ceiling is shown. When the flying object α in the first embodiment crashes on land, a state of absorbing an impact is shown. The flying object in a 2nd embodiment of the present invention is shown. The elastic torsion spring used for the flying object α in the second embodiment is shown. A conventional example is shown. The structure of 3rd Embodiment of this invention is shown. The state in which the flying object α in the third embodiment travels on the ceiling is shown. The structure of 3rd Embodiment is shown. (A) is a plan view and (b) is a front view. The structure of 3rd Embodiment is shown. (A) is a right side view, (b) shows an arrow view. The structure of the state which removed the wheel 10 of 3rd Embodiment is shown. (A) is a plan view, and (b) is a front view of the left first axle 11a. The structure of the 2nd axle shaft 11b of 3rd Embodiment is shown. (A) shows a state where no load is applied and the elastic body 13 and the damper 15 are not deformed, and (b) shows a state where the load is applied and the elastic body 13 and the damper 15 are deformed.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the following embodiments, and changes, modifications, and improvements can be added without departing from the scope of the invention.

(First embodiment)
FIG. 1 shows the configuration of an aircraft α that can travel on land in the first embodiment of the present invention. However, the aircraft body 1 and the propulsion unit 3 that may be installed on the upper part of the shaft 11 are located at the lower part of the control unit (not shown) having a control function, the propulsion unit 3 and the aircraft body 1. And an inspection device 7 located on the top of the aircraft body 1. These can be removed with a tool or the like during maintenance, but are fixed integrally.
Here, depending on the object to be measured, the inspection device 7 may be attached to the lower part of the flying body 1 and the battery 5 may be attached to the upper part.
Two protect frames 9 are rotatably attached to both ends of the axle 11. The two protect frames 9 function as wheels 10 and cover the flying body 1 in a three-dimensional manner. Due to the thrust generated by the propulsion unit 3 of the flying body 1, the protect frame 9 can freely move on land by a rolling motion.

The flying body main body 1 and the axle 11 of the flying body α are assembled via an elastic body 13 and a damper 15. The elastic body 13 and the damper 15 are bent by the weight of the flying body 1. Further, the elastic body 13 and the damper 15 may be attached at two places that are line-symmetric with respect to the flying object α. This is because the aircraft body 1 can be prevented from being bent in the horizontal direction with respect to the axle 11 and can be bent only in the vertical direction. Thus, the effect of this invention can be exhibited more by restraining two-dimensionally and attaching.
The elastic characteristic of the elastic body 13 is based on the fact that a useful amount of deflection occurs due to the mass of the flying body α (including the propulsion unit 3, the battery 5 and the inspection device 7) of the flying object α. The effective amount of deflection varies depending on the size of the aircraft body 1.

However, these drawings are only examples, and for the sake of simplicity of explanation, the aircraft body 1 is a four-rotor type small helicopter and the two protection frames 9 attached to the aircraft body 1 are hemispheres. For the flying object α, the protection frame 9 covers the flying object body 1 in a three-dimensional (three-dimensional) form, can be rotated as a shape, and other requirements are optional as long as the light weight is satisfied. is there. A single spherical protect frame 9 may be used.

As an example, a cross-shaped rod-shaped frame is formed around the flying body 1, and four propulsion units 3 are fixed to the ends thereof. The propellers of the four propulsion units 3 are arranged on one plane. When the rotation speeds of the four propellers are the same, the flying vehicle body 1 flies in the vertical direction.

The horizontal movement of the flying body 1 lowers the rotation speed of the propellers of the two propulsion units 3 in the traveling direction to be moved among the propellers of the four propulsion units 3. Therefore, the flying vehicle body 1 flies while tilting so that the end in the moving direction is lowered. This horizontal movement is the basic operation for land and water travel. The direction of the straight movement in the horizontal direction is the main traveling direction of the flying vehicle body 1. When turning in the left-right direction, the rotation speed (propulsive force) of the propellers of the left and right propulsion units 3 is changed. This horizontal movement is the basic operation of land travel. Accordingly, the propulsion unit 3 is arranged symmetrically with respect to the main traveling direction of the flying body 1.
The axle 11 to which the protect frame 9 or the wheel 10 is attached has a rod shape. The axle 11 does not interfere with the four propulsion units 3. Further, the mounting direction of the axle 11 is preferably a direction perpendicular to the main traveling direction in the basic operation (horizontal movement) of the flying object α on land. This is because when traveling on land using the protect frame 9 or the wheel 10, the traveling direction by the rotation of the protecting frame 9 or the wheel 10 coincides with the main traveling direction, and energy efficiency is good.
As shown in the A-A cross-sectional view of FIG. 1, the axle 11 penetrates the vertically long hole 4 a included in the main body structure 4 of the flying body 1. Further, the pair of elastic bodies 13 and the damper 15 are installed at positions symmetrical with respect to the center line AA (FIG. 1). Since the axle 11 is arranged perpendicular to the main traveling direction, the pair of elastic bodies 13 and the damper 15 are installed at symmetrical positions also with respect to the main traveling direction. The pair of elastic bodies 13 and the damper 15 are balanced in a state where they are bent from the axle 11 by the weight of the flying body 1.
The protect frame 9 (or the wheel 10) is rotatably attached to both ends of the axle 11.
The mounting direction of the axle 11 is preferably a direction perpendicular to the main traveling direction in the basic operation of the flying object α on land (and on the water if possible). This is because when traveling on land or water using the protect frame 9 as a wheel, the traveling direction by the rotation of the contour portion coincides with the main traveling direction, and energy efficiency is good.
Therefore, in the case of the four-rotor type small helicopter shown in FIG. 1, the main traveling direction of the flying object α as the wheel 10 is the two front and rear directions from the basic operation of horizontal movement as the flying object body 1.

Further, in the case where the flying body 1 has a configuration in which the main propeller is mounted on the upper part of the body on which a person rides like a normal helicopter, the direction in which the cockpit is present is the traveling direction during horizontal movement. Therefore, the axle 11 is attached to the left and right of the main body portion perpendicular to the traveling direction. At this time, since the propeller is in the upper part of the main body, the axle 11 does not interfere with the propeller.

The features of the size, shape and weight of the protect frame 9 are as follows. The size of the protection frame 9 covers the airframe body 1 (particularly the propeller) in three dimensions (three-dimensionally) and covers the airframe body 1 (particularly propulsion) during a crash, takeoff, landing, and flight. It should be large enough so that it does not hit the land or obstacles. In order to enclose the flying object α in three dimensions, the protect frame 9 has a concave shape (including a disk shape) with respect to the flying object body 1 (including the propulsion unit 3). The shape of the protection frame 9 is a shape that is easy to roll when landing in any posture (for example, a hemisphere or a cylindrical shape when viewed from the traveling direction of the aircraft body 1, and the direction in which the axle 11 extends parallel to the traveling direction. The cross-sectional shape orthogonal to the shape is circular (including a disk shape) or a hexahedron or more polyhedron), and a sufficient gap is provided so as not to obstruct the air flow of the airframe body 1 inside. The weight of the protect frame 9 is sufficiently light below the payload of the aircraft body 1 so that the aircraft α including the protect frame can freely move in the air including takeoff.

When the two left and right protect frames 9 are attached to both ends of the axle 11 of the flying object α, only one axis can be freely rotated. As a mounting method, the following three embodiments (a), (b), and (c) are preferably made possible.
B) When landing or crashing, the aircraft body 1 (especially a propeller such as a propeller) rolls without damaging the left and right protection frames 9 (or wheels 10) that surround the surroundings, regardless of the landing posture. The attitude of the aircraft body 1 is automatically recovered and finally becomes a convenient attitude at takeoff.
B) On the land, if the propulsion unit 3 is controlled by the control unit and tilted in the direction in which the aircraft body 1 is desired to travel, the protection frame 9 rotates and rolls on the land while the aircraft body 1 maintains its posture. . Since the contour portions of the two left and right protect frames serve as the wheels 10 (tires) in the vehicle width direction of the two-wheeled vehicle, the flying object α is restrained from moving in the roll direction when traveling on land, and has a high straight running stability.
C) When a rotational force in the yaw direction is applied to the flying object α on land, the contour portions of the two left and right protection frames 9 (or wheels 10) rotate in opposite directions as the wheels 10 of the two-wheeled vehicle. α can be easily rotated in the yaw direction on the spot. Therefore, the flying object α can move on the land safely and in all directions.

There are also other embodiments of the flying object α. This is because there are four or two pairs of stays for mounting the propulsion unit 3 of the flying body 1 in the cross shape, and the axles 11 are connected to the left and right ends of the pair of stay units.
It is the same structure that the protection frame 9 (or the wheel 10) is attached to both ends of the axle 11. According to such a configuration, the stay of the flying body 1 can be shared with the axle 11, so the degree of freedom in designing the flying body 1 is increased.

FIG. 2 shows a case where the flying object α in the first embodiment of the present invention travels horizontally on a vertical wall. As for the coordinate axes, the vertical direction is the X axis and the horizontal direction is the Y axis.
In the front view of FIG. 2B, the protect frame 9 (or the wheel 10) is in contact with the vertical wall, and the flying object α is traveling in the horizontal direction (Y-axis direction) by the propulsive force of the propulsion unit 3. .
In the plan view of FIG. 2A, the protect frame 9 (or the wheel 10) is in contact with the wall, and the flying object α is traveling in the Y-axis direction. Since the Y direction is the main traveling direction, the propulsion unit 3 is inclined with respect to the Y-axis direction to generate a propulsive force (lift).
In the right side view of FIG. 2C, the protect frame 9 (or the wheel 10) is in contact with the wall, and the flying object α is traveling in the Y-axis direction. In the propulsion unit 3, the flying body 1 and the axle 11 are assembled via an elastic body 13 and a damper 15, and the elastic body 13 and the damper 15 can be extended by gravity due to the mass of the flying body 1. Therefore, the propulsion unit 3 can tilt two-dimensionally in the X-axis direction, and generates a propulsive force (lift) above the X-axis.

FIG. 3 shows a state of force when the flying object α in the first embodiment of the present invention travels horizontally (Y direction) on a vertical wall (viewed from above). The propulsion unit 3 generates lift (vector display) perpendicular to the propulsion unit 3. Since the propulsion unit 3 is inclined in the traveling direction, a Y-axis direction component of lift is generated in the horizontal direction. Further, in the wall direction, lift force that presses the wheel 10 or the protect frame 9 against the wall is also generated. Therefore, the flying object α can travel on the vertical wall in the horizontal direction.

FIG. 4 shows the state of force when the flying object α in the first embodiment of the present invention travels horizontally (Y direction) on a vertical wall (viewed from the side). The propulsion unit 3 generates lift (vector) perpendicular to the propulsion unit 3. The flying body axle 11 is assembled with the elastic body 13 and the damper 15, and the flying body 1 can extend the elastic body 13 and the damper 15 by gravity due to its mass. Accordingly, the propulsion unit 3 can also be two-dimensionally inclined in the X-axis direction, which is the vertical upward direction, and generates an X-axis direction component of lift above the X-axis. Further, in the wall direction, lift force that presses the wheel 10 or the protect frame 9 against the wall is also generated. Therefore, the flying object α can travel in the horizontal direction on the vertical wall without falling due to gravity due to the component of the lift in the X-axis direction.
Here, the elastic body 13 and the damper 15 connect the axle 11 and the flying body 1 at two locations, the lower elastic body 13 and the damper 15 are compressed, and the upper elastic body 13 and the damper 15 are pulled. Yes. This is because the aircraft body 1 can be prevented from being bent in the horizontal direction with respect to the axle 11 and can be bent only in the vertical direction. Thus, the effect of this invention can be exhibited more by restraining two-dimensionally and attaching.

FIG. 5 shows a case where the flying object α in the first embodiment of the present invention rises in the air, hits the ceiling, and travels on the ceiling.
(A) shows the state in which the flying object α is on land. The propulsion unit 3 is horizontal, vertical upward lift is working, and the flying object α is levitated toward the ceiling.
(B) shows the moment when the flying object α reaches the horizontal ceiling. If there is a convex portion on the ceiling, the wheel 10 or the protect frame 9 on one side of the flying object α rides on the convex part, and the axle 11 and the flying body 1 are not horizontal.
(C) shows a state where the elastic body 13 and the damper 15 are expanded and contracted by the appropriate gravity of the flying body 1 and the flying body 1 is horizontal. The inspection device 7 (camera etc.) mounted on the flying body 1 can inspect the ceiling horizontally with the ceiling surface.

FIG. 6 shows a state in which an impact is absorbed when the flying object α in the first embodiment of the present invention crashes on land.
When the flying object α falls, the wheel 10 or the protect frame 9 collides with the land. The wheel 10 or the protect frame 9 is elastic and can absorb the impact of the collision. In the first embodiment, the flying body main body 1 and the axle 11 of the flying object α are assembled via an elastic body 13 and a damper 15. Therefore, since the impact of the collision can be further absorbed, the control device, the propulsion unit 3, the battery 5 and the inspection device 7 mounted on the flying body 1 can be protected more effectively.

The elastic body 13 is a spring mechanism such as a coil spring, a leaf spring, or a torsion spring, or / and a material having elastic force such as rubber.

(Second Embodiment)
FIG. 7 shows the flying object α in the second embodiment of the present invention. The invention of the second embodiment is that a torsion spring 17 is adopted for the elastic body 13 of the first embodiment. It is better to connect the axle 11 and the flying body 1 by the elastic body 13 and the damper 15 of the first embodiment at two or more places. However, according to the torsion spring 17, the axle 11 and the flying body are connected by one place. The positional relationship of the body body 1 is specified, and the flying body body 1 can be kept horizontal with respect to the axle 11 by the gravity of the flying body body 1 or appropriate gravity.

FIG. 8 shows an elastic torsion spring used for the flying object α in the second embodiment of the present invention. Here, since the torsion spring is normally used after being compressed, the vehicle body 1 is assembled to the upper arm 17a side and the axle 11 is assembled to the lower arm 17b.
The arm 17a and the arm 17b of the torsion spring 17 may be connected at one place because the operation direction is restricted in two dimensions. Further, the mechanical characteristics of the torsion spring 17 are selected in accordance with the mass of the flying body 1 and the size of the flying object α.

(Third embodiment)
In the third embodiment, the axle 11 is divided into a first axle 11a and a second axle 11b, and a wheel 10 or a protect frame 9 is attached to one end of the first axle 11a and the second axle 11b. The other end of the first axle 11a and the second axle 11b is attached to the flying vehicle body through the damper 15. FIG. 10 shows the configuration of the third embodiment. The wheel 10 is attached to the first axle 11a. The first axle 11 a is attached to the Z-shaped link 22 via the elastic body 13 and the damper 15, and the Z-shaped link 22 is attached to the flying body 1. The other wheel 10 and the second axle 11b have the same configuration.

FIG. 11 shows a state in which the flying object α in the third embodiment of the present invention travels on the ceiling. A pair of wheels 10 are installed on the ceiling. The propellers of the four propulsion parts of the flying body 1 are rotated to generate upward lift. A camera as an inspection device 7 is mounted on the upper part of the flying body 1. The first axle 11a and the second axle 11b of the pair of wheels 10 are attached to the flying body main body through the elastic body 13 and the damper 15, respectively.

FIG. 12 shows the structure of the third embodiment. 12A is a plan view, and FIG. 12B is a front view. In the plan view of FIG. 11A, the aircraft body 1 has four propulsion units 3. The propulsion unit 3 has a propeller. A pair of wheels 10 are provided at both ends of the flying body 1. In the front view of FIG. 12B, a camera that is an inspection device 7 is provided on the upper part of the flying body 1. The pair of wheels 10 are attached to the aircraft body 1 via parallel links, an elastic body 13 and a damper 15, respectively.

FIG. 13 shows the structure of the third embodiment. FIG. 13A is a right side view and FIG. 13B is an arrow view. In the right side view of FIG. 13A, the wheel 10 is attached to the first axle 11a.

In FIG. 14, the structure of the state which removed the wheel 10 of 3rd Embodiment is shown. Instead of the Z-shaped link 22, the parallel link 20 is used. FIG. 14A is a plan view, and FIG. 14B is a front view of the left first axle 11a. In the plan view of FIG. 14A, one end of the first axle 11a and the second axle 11b is attached to the flying vehicle body 1 via a parallel link 20, respectively. In the front view of the left first axle 11 a in FIG. 14B, one end of the first axle 11 a is attached to one vertical link 20 a of the parallel link 20. The other parallel vertical link 20b is attached to the aircraft body. The elastic body 13 and the damper 15 are attached to the two links 20c and 20d parallel to the vertical direction. The link 20a to which the first axle 11a is attached always moves in parallel with the link 20b attached to the aircraft body 1. The same applies to the second axle 11b. Accordingly, the first axle 11a and the second axle 11b are perpendicular to the main traveling direction.
Further, the movement of the first axle 11 a and the second axle 11 b is restrained by the elastic body 13 and the damper 15. That is, when the flying object α falls on the ground, the impact force that the wheel 10 collides with the floor is almost absorbed by the elastic body 13 and the damper 15, and only a small impact force is transmitted to the flying object body 1. Therefore, the flying vehicle body 1 (including the propulsion unit 3, the battery 5, and the inspection device 7 that is mounted) can be protected from an impact from falling.

FIG. 15 shows the structure of the second axle 11b of the third embodiment. FIG. 15A shows a state where no load is applied and the elastic body 13 and the damper 15 are not deformed, and FIG. 15B shows a state where a load is applied and the elastic body 13 and the damper 15 are deformed. 15A, the parallel link 20 has a substantially square shape, but in FIG. 15B, the parallel link 20 has a rhombus shape. The elastic body 13 and the damper 15 are compressed in FIG. 15B and shortened in total length, as compared to FIG.

In the third embodiment, the parallel link 20 and the Z-shaped link 22 are used. However, without using the parallel link 20 and the Z-shaped link 22, one end of the elastic body 13 and the damper 15 is connected to the first axle 11a or You may attach to the 2nd axle 11b, and you may attach the other edge part to the aircraft main body 1 via the bracket of another shape.

According to the above embodiment, the present invention is as follows.
The invention 1 includes a vehicle body 1 having a single propulsion unit 3 arranged in the center or a plurality of propulsion units 3 arranged symmetrically with respect to the main traveling direction, and arranged so as to be perpendicular to the main traveling direction. In the aircraft α comprising the axle 11 made and the protect frame 9 that three-dimensionally encloses the axle 11 and the pair of wheels 10 or the pair of aircraft bodies 1 that can rotate around the axle 11, the axle 11 is the aircraft body. 1 is a flying object α characterized by being attached via an elastic body 13 and a damper 15.
Invention 2 is the flying object α according to Invention 1, characterized in that the pair of elastic bodies 13 and the damper 15 are provided symmetrically with respect to the main traveling direction.
A third aspect of the present invention is the flying object according to the second aspect, wherein the axle 11 is divided.
The invention 4 is the flying object according to the invention 1, wherein the axle 11 is two-dimensionally restrained and attached to the flying object body 1.
The invention 1 is characterized in that an axle 11 to which a protect frame 9 or a wheel 10 is attached and an aircraft body 1 on which an inspection device 7 or the like is mounted are attached via an elastic body 13 and a damper 15. Therefore, when the flying object α travels horizontally on the vertical wall B, the propulsion unit 3 is inclined in the horizontal direction. Here, since a heavy battery 5 or the like is mounted on the lower part of the flying body 1 and vertical downward gravity is working, the propulsion unit 3 is also two-dimensionally inclined upward and upward due to gravity. Lift can be obtained. Therefore, the flying object α can travel horizontally on the vertical wall.
Further, when taking a picture of a camera while traveling on the ceiling, even if the ceiling surface is uneven, the aircraft body 1 with the inspection device 7 as a camera can be kept horizontal, and the aircraft α is the ceiling surface. Can be taken horizontally.
In addition, the impact body and the vibration absorbing function of the elastic body 13 and the damper 15 can protect the flying body 1 and the installed inspection device 7.
Since the invention 2 includes the pair of elastic bodies 13 and the damper 15 symmetrically with respect to the main traveling direction, the flying body 1 can be stably controlled with respect to the axle.
In the invention 3, since the axle 11 is divided, when one wheel 10 or the protect frame 9 gets over a step or the like, the influence on the other wheel 10 or the protect frame 9 can be reduced. Therefore, the ground traveling of the flying object α can be stabilized.
In the invention 4, the axle body 11 is two-dimensionally restrained and attached to the flying body body 1 so that the flying body body 1 is restrained from bending in the horizontal direction with respect to the axle body 11 and is bent only in the vertical direction. It is what I made it. The axle 11 and the flying body 1 can be attached to one place by one elastic body and a damper, respectively.

α Aircraft 1 Aircraft body
DESCRIPTION OF SYMBOLS 3 Propulsion part 4 Main body structure 4a Hole part 5 Battery 7 Inspection equipment 9 Protection frame 10 Wheel 11 Axle 11a 1st axle 11b 2nd axle 13 Elastic body 15 Damper 17 Rotating spring 17a Arm 17b Arm 20 Parallel links 20a, b, c , D Parallel link 22 Z-shaped link ii Ceiling B Wall C Floor

Claims (4)

A vehicle body having one propulsion unit arranged in the center or a plurality of the propulsion units arranged symmetrically with respect to the main traveling direction;
An axle arranged to be perpendicular to the main direction of travel;
A protect frame that three-dimensionally wraps a pair of wheels or a pair of the aircraft bodies that can rotate on the axle;
In an aircraft with
The axle is attached to the aircraft body,
A flying object characterized by being attached via an elastic body and a damper. A pair of the elastic body and the damper,
The flying object according to claim 1, wherein the flying object is provided symmetrically with respect to the main traveling direction. The flying body according to claim 2, wherein the axle is divided. The axle to the aircraft body,
The flying object according to claim 1, wherein the flying object is two-dimensionally restrained and attached.