JP2016043922A - Flying body capable of traveling on land - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that when a flying body in which wheels having a protection function are provided to a flying body main body and which travels with its propulsion part inclined in a travelling direction is applied to the inspection of a ceiling, a wall, etc. of a deteriorated tunnel or a deteriorated bridge, it is impossible for the flying body to travel horizontally on a vertical wall since there is no lifting force vertically upward.SOLUTION: A flying body 1 having an axle 11 attached to a flying body main body 20 having a propulsion part 21 so that it is perpendicular to a travelling direction of wheels 12 in travelling on land includes a roll shaft 22 orthogonal to the axle 11, and a roll bearing 23 that rotatably engages with the roll shaft 22, either the roll shaft 22 or the roll bearing 23 being fixed to the flying body main body 20.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an aircraft capable of running on land having an axle attached to a flying vehicle body having a propulsion unit so as to be perpendicular to the traveling direction of wheels during running on land (hereinafter referred to as “when running on land”). "Wheel traveling direction" is abbreviated as "Wheel traveling direction").

  The conventional technology relating to a rotating wheeled vehicle capable of traveling on land, which is the subject of the present invention, is a vehicle having a propulsion device (such as a propeller driving device or a jet type propulsion device) without a wheel (hereinafter referred to as a flying vehicle main body). It is. 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 Nana Takahashi, Shuhei Yamashita, Manabu Yamada, “Development of an Amphibious Flying Robot that Can Run freely on Walls and Ceilings by Linear Input-Output Linearization of Quad Helicopters”, 37th Annual Conference of the Robotics Society of Japan (CD) ), (2013), 1D3-04

  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-mentioned problem, as shown in Non-Patent Document 5, a two-dimensional or three-dimensional wheel (which also has a protection function for a flying body) that protects a necessary part of an existing flying body is used. (Hereinafter referred to as a flying body) (FIG. 8, conventional example). 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. In addition, even if the flying object landed or crashed, it can travel all directions on land. Hereinafter, the “aircraft” refers to a form including a vehicle body and wheels. 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.

In the conventional example shown in FIG. 8, the flying body is a four-rotor type small helicopter having four propeller propulsion units, and two wheels (including spokes) attached to the flying body are hemispheres. The rectilinear movement of the flying body in the horizontal direction lowers the rotational speed of the two propellers in the direction in which the propeller is to be moved among the four propellers that are propulsion units. The flying vehicle body flies while tilting so that the end in the moving direction is lowered. The direction of this horizontal straight movement is the main traveling direction of the flying vehicle body and the traveling direction of the wheels. When turning in the left-right direction, the rotation speed (propulsive force) of the left and right propellers is changed. This horizontal movement is the basic operation of land travel. Therefore, the propulsion unit is disposed symmetrically with respect to the traveling direction (main traveling direction) of the vehicle body wheels.
The axle to which the wheels are attached has a rod-like form. The axle has one end fixed to the left and right of the flying body so as not to interfere with the four propulsion parts, and a wheel is rotatably attached to the other end. The mounting direction of the axle is preferably perpendicular to the traveling direction of the wheel (main traveling direction) in the basic operation (horizontal movement) of the flying object on land. This is because when traveling on land using wheels, the traveling direction by the rotation of the wheels coincides with the main traveling direction, and energy efficiency is good.
Therefore, the main traveling direction of the flying body coincides with the traveling direction of the wheels, and in the case of the conventional four-rotor type small helicopter shown in FIG. 8, the main traveling direction of the flying body is the direction in which the wheels rotate. It becomes the front-back direction.

This aircraft can be used for inspection of aging tunnels, bridge ceilings and walls. 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, the aircraft in the conventional example has the following problems because the axle for attaching the wheels is fixed and attached to the aircraft main body on which the inspection equipment is mounted.
(Task)
As shown in FIG. 9, the flying object having the conventional wheels cannot travel horizontally on a vertical wall. That is, the flying object travels with the propulsion unit (aircraft body) tilted in the traveling direction with respect to the axle. However, when traveling on a vertical wall in the horizontal direction (Y-axis), the lift by the propulsion unit is generated in the traveling direction (Y-axis) and the wall direction (X-axis), but not in the vertical direction (Z-axis). . Therefore, considering the balance of force in the vertical direction (Z axis), gravity due to the weight of the flying object acts below the Z axis, and the friction of the wheel above the Z axis due to the lift in the wall direction (X axis). Power works. However, this frictional force is smaller than the gravity due to the weight of the flying object. Accordingly, the flying object travels in the horizontal direction (Y axis) while sliding down the wall surface.

The present invention is to provide an air vehicle that solves the above-described problems, and is as follows.
A first aspect of the present invention is a flying body having an axle attached to a flying body main body having a propulsion unit so as to be perpendicular to a traveling direction of a wheel when traveling on land, and a roll axis orthogonal to the axle and a roll axis rotatable. And a roll shaft bearing fitted to the vehicle body, and one of the roll shaft and the roll shaft bearing is fixed to the flying body.
A second aspect of the present invention is the flying body according to the first aspect of the present invention, wherein the flying body has a lock mechanism for stopping rotation.
A third aspect of the present invention is the flight according to the second aspect, wherein the lock mechanism fixes the lock portion to the roll shaft, and fixes the axle or the lock shaft parallel to the axle to the lock portion by an urging force of an elastic body. Is the body.
A fourth aspect of the present invention is the flying body according to the third aspect, wherein the lock mechanism is released when a wheel abuts against a wall or the like and a force in a direction opposite to the urging force is generated.
A fifth aspect of the invention relates to a flying body having an axle attached to a flying body main body having a propulsion unit so as to be perpendicular to a traveling direction of a wheel when traveling on land, a roll shaft fixed to the flying body, and both ends of the roll shaft A roll shaft bearing, an axle that is rotatably fitted to the roll shaft bearing, orthogonal to the roll axis and parallel to each other, and a wheel fitting portion that fits the wheels rotatably at both ends of the axle. With respect to the shaft, the pair of wheel fitting portions on one side is fitted with one wheel, and the pair of wheel fitting portions on the other side is fitted with the other wheel. The flying body.
A sixth aspect of the present invention relates to a flying body having an axle attached to a flying body main body having a propulsion unit so as to be perpendicular to a traveling direction of a wheel during land traveling, a roll shaft bearing fixed to the flying body, and a roll shaft A roll shaft that is rotatably fitted to the bearing, and an axle that is orthogonal to the roll axis and parallel to each other are fixed to both ends of the roll shaft, and a wheel fitting portion that rotatably fits the wheel to both ends of the axle. The pair of wheel fitting portions on one side is rotatably fitted to one wheel with respect to the roll shaft, and the pair of wheel fitting portions on the other side is fitted to the other wheel. It is a flying body characterized by being.

According to the first aspect of the present invention, a flying object having wheels can travel horizontally on a vertical wall. The flying body main body having the propulsion unit rotates and tilts around the axle that is perpendicular to the traveling direction of the wheel, which is the main traveling direction, and also rotates around the roll axis that is orthogonal to the axle. Therefore, when the flying body is tilted in two directions, the lift generated by the propulsion unit can be divided into the three directions of the horizontal direction, the vertical direction, and the direction of pressing the wall. In other words, the flying object is prevented from falling by its own weight due to the vertical lift, the wheel is pressed against the wall by the lifting force that presses the wall, and the wheel is rotated by the horizontal lifting force to move in the horizontal direction. . Furthermore, the vertical and inclined walls can be moved not only in the horizontal direction but also obliquely upward and downward.
According to the second aspect of the present invention, the lock mechanism is provided so as not to rotate around the roll shaft with respect to the axle during normal traveling that does not travel horizontally on the vertical wall. Thereby, the traveling of the flying object can be stabilized during normal traveling.
According to the invention 3, the lock mechanism can be configured with a simple structure.
According to the invention 4, the lock mechanism can be released by contacting the wall or the like, so that the actual usability is improved.
According to the fifth aspect of the present invention, an aircraft having wheels can travel horizontally on a vertical wall. The aircraft body having the propulsion unit rotates and tilts around a roll axis fixed to the aircraft body, and also tilts around an axle that is orthogonal to the roll axis. Therefore, because the propulsion unit tilts in two directions, the lift generated in the propulsion unit can be divided into three directions, the horizontal direction, the vertical direction, and the direction of pressing the wall. It has an annular shape and can be hollow inside. Therefore, when the flying object is driven by an outdoor bridge or the like, the influence of cross wind can be reduced. Further, since the axle is in the traveling direction of the wheel, it has the function of a protector that protects the flying body.
According to the sixth aspect of the present invention, a flying object having wheels can travel horizontally on a vertical wall. The aircraft body having the propulsion unit rotates and tilts around a roll axis fitted to a roll axis bearing fixed to the aircraft body, and also tilts around an axle that is orthogonal to the roll axis. Therefore, because the propulsion unit tilts in two directions, the lift generated in the propulsion unit can be divided into three directions, the horizontal direction, the vertical direction, and the direction of pressing the wall. It has an annular shape and can be hollow inside. Therefore, when the flying object is driven by an outdoor bridge or the like, the influence of cross wind can be reduced. Further, since the axle is in the traveling direction of the wheel, it has the function of a protector that protects the flying body.

1 is an arrow view showing a configuration of a flying object 1 according to a first embodiment. The structure of the flying body 1 which has the flying body main body of an H type flame | frame is shown typically. (B) is a front view and (a) is a plan view. The structure of the flying body 1 which has the flying body main body of a X-type flame | frame is shown typically. (B) is a front view and (a) is a plan view. The locking mechanism in 1st Embodiment of the flying body 1 is shown. (A) is an overall view, (b) is an enlarged view when locked, and (c) is an enlarged view when unlocked. The lock mechanism of the flying body 1 is shown typically. (A) shows the locked state, (b) shows the unlocked state. In the lock mechanism of the flying object 1, a mechanism for re-locking is schematically shown. A state in which the flying body of the flying body 1 travels vertically on a vertical wall and travels horizontally is schematically shown. The structure of the conventional aircraft is shown. It shows schematically that a conventional aircraft cannot travel horizontally on a vertical wall. The intersection part of the axle shaft and roll axis | shaft in 1st Embodiment is shown typically (a roll axis | shaft is fixed to a flying body main body). The intersection part of the axle shaft and roll shaft in 1st Embodiment is typically shown (a roll shaft bearing is fixed to a flying body main body). 2nd Embodiment and 3rd Embodiment are shown schematically. The structure of the wheel fitting part of 2nd Embodiment and 3rd Embodiment is shown. 2nd Embodiment and 3rd Embodiment are shown. (A) Arrow view, (b) Viewed from the side, (c) Second embodiment, (d) Third embodiment. The state which horizontally moves the vertical wall by 2nd Embodiment and 3rd Embodiment is shown.

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 is an arrow view showing the configuration of the flying object 1 according to the first embodiment.
The wheel portion 10 includes an axle 11, a pair of wheels 12, an axle fixing portion 13, and spokes 17. The pair of wheels 12 are rotatably attached to both ends of the axle 11. The pair of wheels 12 and the spokes 17 cover the flying body 20 of the flying body in three dimensions to protect the flying body. Alternatively, the pair of wheels 12 may be an integral circle, an ellipse, or a polygon. Further, when the vehicle body 20 is used in an environment where it is not necessary to actively protect the aircraft body 20, the pair of wheels 12 may be two-dimensional wheels (general bicycle wheels, automobile tires, etc.). Due to the thrust generated by the propulsion unit 21 of the flying body 20, the flying body can freely move on the land by a rolling motion.
The flying body 20 includes a propulsion unit 21 and a frame 25. In addition, although not shown in the figure, the flying body 20 includes a control unit that controls the lock mechanism 30 and the propulsion unit 21 of the flying object 1, a mounting space for mounting inspection equipment such as a battery and a camera. The control unit, battery, camera, and the like can be designed to be mounted on the axle unit 10.

A roll shaft 22 fixed to the aircraft body 20 and a roll shaft bearing 23 rotatably fitted to the roll shaft 22 are provided. The roll shaft 22 and the axle 11 are orthogonal to each other, and the aircraft body 20 is attached to the axle 11. On the other hand, the air vehicle 1 is characterized by rotating around the roll shaft 22. The roll shaft 22 and the axle 11 are orthogonal to each other due to a twist, but a through portion may be provided in the axle 11 so that the roll shaft 22 and the axle 11 intersect.
In the flying body of the conventional example, the flying body 20 rotates about the axle 11 to obtain lift, and the wheel 12 rotates to move in the traveling direction of the wheel 12, but lift occurs in the direction of the axle 11. Not. Since the flying body 20 further rotates about the roll shaft 22 with respect to the axle 11, the flying body 1 also generates lift in the direction of the axle 11.
Therefore, when the vehicle travels horizontally on a vertical wall, the flying body 20 rotates about the roll shaft 22 with respect to the axle 11, so that lift is also generated in the direction of the axle 11 and supports the weight of the flying body 1. Can do. Therefore, the vehicle can travel in the horizontal or vertical direction on the vertical wall.

FIG. 2 schematically shows the configuration of the flying object 1 having an H-shaped frame flying body. 2B is a front view, and FIG. 2A is a plan view.
In FIG. 2A, the frame on which the propulsion unit 21 is mounted has an H shape. That is, the propulsion unit 21 is mounted on four H-shaped corners, and the H-shaped horizontal bar portion corresponds to the roll shaft 22 and the roll shaft bearing 23.
The roll shaft 22 is orthogonal to the axle 11 in a torsional relationship.
In the front view of FIG. 2B, the flying vehicle body 20 including the propulsion unit 21 rotates about the roll shaft 22 as a rotation center.

FIG. 3 schematically shows the configuration of the flying object 1 having an X-type frame flying body. FIG. 3B is a front view, and FIG. 3A is a plan view.
3A, the frame on which the propulsion unit 21 is mounted is X-shaped. That is, the propulsion unit 21 is mounted on four X-shaped corners, and the X-shaped intersection corresponds to the roll shaft 22 and the roll shaft bearing 23.
The roll shaft 22 is orthogonal to the axle 11 in a torsional relationship.
In the front view of FIG. 3B, the flying vehicle body 20 including the propulsion unit 21 rotates about the roll shaft 22 as the rotation center.

FIG. 4 shows a lock mechanism in the first embodiment of the flying object 1. (A) is an overall view, (b) is an enlarged view when locked, and (c) is an enlarged view when unlocked.
FIG. 4C is an enlarged view when the lock mechanism 30 is unlocked. The lock mechanism 30 has a lock part 32, a coil spring elastic body 35, and an elastic body fixing part 36 in the flying body 20, and a wheel shaft 10 has a lock shaft 31 parallel to the axle 11. The lock shaft 31 is not fitted in the groove 33 of the lock portion 32. Therefore, the roll shaft 22 can rotate without being fixed with respect to the flying body 20.

FIG. 10 schematically shows an intersection of the axle 11 and the roll shaft 22 in the first embodiment (the roll shaft 22 is fixed to the flying body 20). The cross bracket 15 is formed of a sheet metal material in a rectangular tube shape. The axle 11 passes through one parallel surface of the cross bracket 15 and is fixed to the cross bracket 15 by an axle fixing portion 13. The roll shaft 22 passes through the other parallel surface of the cross bracket 15 and is rotatably fitted to the roll shaft bearing 23. The roll shaft bearing 23 is a hole, but a bearing may be used. Therefore, the aircraft body 1 fixed to the roll shaft 22 can rotate in a direction orthogonal to the axle 11.

FIG. 11 schematically shows the intersection of the axle 11 and the roll shaft 22 in the first embodiment (the roll shaft bearing 23 is fixed to the flying body 20). The cross bracket 15 is formed of a sheet metal material in a rectangular tube shape. The axle 11 passes through one parallel surface of the cross bracket 15 and is fixed to the cross bracket 15 by an axle fixing portion 13. The roll shaft 22 passes through the other parallel surface of the cross bracket 15 and is fixed to the cross bracket 15 by the axle fixing portion 14. The roll shaft 22 is rotatably fitted to the roll shaft bearing 23. The roll shaft bearing 23 is a hole, but a bearing may be used. The roll bearing 23 is fixed to the frame 25 of the flying body 20. Therefore, if the cross bracket 15 and the frame 25 are arranged sufficiently apart from each other, there is no interference, so the aircraft body 1 fixed to the roll shaft bearing 23 can rotate in a direction perpendicular to the axle 11. A propulsion unit 21 is fixed to the frame 25.

In FIG. 5, the lock mechanism 30 of the flying object 1 is schematically shown by the axle 11 without the lock shaft 31. FIG. 5A shows a state where the roll shaft 22 is locked so as not to rotate with respect to the axle 11. FIG. 5B shows a state in which the lock is released so that the roll shaft 22 can rotate with respect to the axle 11.
In FIG. 5A, the lock mechanism 30 fixes the lock portion 32 to the roll shaft 22, and fixes the axle 11 or the lock shaft 31 parallel to the axle to the lock portion 32 by the urging force of the elastic body 35. Indicates. The lock portion 32 includes a V-shaped groove 33 and a guide 34, and the axle 11 or the lock shaft 31 parallel to the axle is pressed into the groove 33 by an urging force of the elastic body 35 and fixed. The groove 33 is a circular groove matching the outer diameter of the axle 11 or the lock shaft 31 parallel to the axle, and the groove 33 and the axle 11 (or the lock shaft 31 parallel to the axle) are fitted to each other to maintain the locked state. It is preferable because it is maintained. The flying object 1 is in a locked state in order to stabilize the moving posture while flying or traveling on land.

FIG. 5B shows a state where the lock mechanism 30 is released when the wheel 12 abuts against the wall and a force in the direction opposite to the urging force of the elastic body 35 is generated. When the wheel 12 of the flying body 1 abuts against a wall or the like due to lift by the propulsion unit 21 and a force in a direction opposite to the urging force of the elastic body 35 is generated, the elastic body 35 is compressed and locked in parallel with the axle 11 or the axle. The shaft 31 is released from the groove 33 of the lock portion 32 and released, and the lock is released.
Here, separately, the force with which the wheel 12 is in contact with the wall or the like may be sensed and sucked with a solenoid to release the lock.

FIG. 6 schematically shows a mechanism for locking again in the lock mechanism 30 of the flying object 1. The lock portion 32 rotates with respect to the axle 11 or the lock shaft 31 parallel to the axle. Therefore, the groove 33 and the axle 11 or the lock shaft 31 parallel to the axle are in a twisted relationship. Therefore, the guide 34 is provided in the groove 33, and the axle 11 or the lock shaft 31 parallel to the axle is guided to the groove 33 by the urging force of the elastic body 35.

FIG. 7 schematically shows a state in which the flying object 1 travels horizontally after traveling vertically on a vertical wall. As for the coordinate axes, the vertical direction on the wall surface is the Z axis, the horizontal direction on the wall surface is the Y axis, and the vertical direction with respect to the wall surface is the X axis. The vector of lift generated by the propulsion unit 21, upward F _z in the _Z-axis, the right direction F _y of the _Y-axis, a direction of pressing the wall and F _x.
(1) Promotion 21 on the wall to the mobile axle 11 in the vertical direction (Z-axis) is inclined (tilted 1), F _z and the F _x is generated. Department 21 is inclined with respect to the axle 11, against the wheel 12 to the wall by F _x, by F _z, the Z-axis upward in the vertical direction, are moved by rotating the wheel 12.
(2) When changing direction on the wall surface in the horizontal direction (Y-axis) and changing direction on the wall surface in the horizontal direction (Y-axis), the propulsion force of the propulsion unit 21 is first weakened, and the aircraft 1 moves above the Z-axis. Stop. F _z is a size commensurate with the weight of the flying object. Next, the propulsion unit 21 turns to the right side by weakening the propulsive force on the right side of the propulsion unit 21 and increasing the propulsive force on the left side. Here, when the direction change to the right side is completed, the lift by the inclination 1 generates F _y and F _x . The roll shaft 22 is rotated relative to the axle 11, the propulsion unit 21 is inclined by rotation about the X axis (tilted 2), so as not to drop the flying body 1 to maintain the size of the F _z.
(3) lift by moving propulsion unit 21 on a plane in the horizontal direction (Y-axis), to generate _{F y} and _{F x} by tilting 1, to generate _{F z} and _{F x} by tilting 2.
F _x is pressed against the wheel 12 to the wall, advancing the aircraft 1 rotates the wheel 12 by F _y in the horizontal direction of the right side. F _z serves to not to drop the aircraft 1 in a vertical direction.

(Second Embodiment)
FIG. 12 schematically shows the second embodiment. 12A is an arrow view from above, FIG. 12B is an arrow view from substantially the upper front, and FIG. 12C is a front view.
The propulsion unit 21 is fixed to the frame 25 of the flying body 20. A circular ring-shaped wheel 46 is provided on both sides of the flying body 20. There are two wheel fitting portions 48 inside the wheel 46. An axle 40 is rotatably fitted at the center of the wheel fitting portion 48. Wheel fitting portions 48 are rotatably fitted to both ends of the axle 40. A roll shaft 42 is connected to the center of the axle 40. An axle 40 is connected to both ends of the roll shaft 42. The frame 25 of the flying body 20 is connected to the center of the roll shaft 42.
The same applies to the third embodiment.

In FIG. 13, the structure of the wheel fitting part 48 of 2nd Embodiment is shown. Guides 48a are provided on both sides of the wheel fitting portion 48, and rollers 48b are provided therebetween. The distance between the guides 48a is slightly larger than the thickness of the wheel 46, and is supported from the inside of the wheel 46 so that the wheel 46 does not come off. The roller 48b is in contact with the arc portion inside the wheel 46 so as to be rotatable. Since the roller 48b is also rotatably fitted to the axle 40, the wheel can rotate.
The same applies to the third embodiment.

FIG. 14 shows the configuration of the second embodiment. FIG. 14A shows an arrow view, and FIG. 14B shows a side view.
The propulsion unit 21 is fixed to the frame 25 of the flying body 20. A circular ring-shaped wheel 46 is provided on both sides of the flying body 20. There are two wheel fitting portions 48 inside the wheel 46. An axle 40 is rotatably fitted at the center of the wheel fitting portion 48. Wheel fitting portions 48 are rotatably fitted to both ends of the axle 40. A roll shaft 42 is connected to the center of the axle 40. An axle 40 is connected to both ends of the roll shaft 42. The frame 25 of the flying body 20 is connected to the center of the roll shaft 42.
As shown in FIG. 14 (b), the wheel 46 and the wheel fitting portion 48 are rotatably fitted, so that the wheel can rotate in the traveling direction. Further, the two wheel fitting portions 48 with respect to the wheel 46 are located at the diameter of the wheel 46. Therefore, the length of the roll shaft 42 is substantially the same as the diameter of the wheel 46. Since the wheel 46 and the two wheel fitting portions 48 are rotatably fitted, the roll shaft 42 and the flying body 20 can be inclined with respect to the traveling direction of the wheel. Therefore, since the propulsion part 21 inclines in the advancing direction of a wheel, the wheel 48 rotates in the direction of the arrow (right rotation), and the flying object 1 can move in the direction of the arrow (right side).
Since the axle 40 is in the traveling direction, it also serves as a protector that prevents the flying body 20 from colliding with an obstacle. Further, since the wheel 46 has an annular shape and it is not necessary to use a spoke or the like that supports the wheel 46 at the center, the wind resistance from the lateral direction can be reduced as compared with the first embodiment.
The same applies to the third embodiment.

FIG. 14C shows the second embodiment. The roll shaft 42 is fixed to the frame 25 of the flying body 20 in the traveling direction of the wheels 46. An axle 40 is connected to both ends of the roll shaft 42. In this connection portion, the roll shaft bearing 44 is fixed to the axle 40. The roll shaft 42 and the roll shaft bearing 44 are fitted rotatably.
Here, since the wheel 46 and the two wheel fitting portions 48 are rotatably fitted, the roll shaft 42 can be inclined with respect to the traveling direction of the wheel 46. Therefore, the propulsion unit 21 is inclined in the traveling direction of the wheel 46.
On the other hand, since the roll shaft 42 is rotatably fitted to a roll shaft bearing 44 fixed to the axle 40,
The aircraft body 20 having the propulsion unit 21 can rotate around the roll shaft 42. Therefore, the propulsion unit 21 is inclined in two directions, and the lift generated by the propulsion unit 21 can be divided into the three directions of the traveling direction of the wheel 46, the horizontal direction, the vertical direction, and the direction of pressing the wall. Therefore, the flying object 1 having the wheels 48 can travel horizontally on the vertical wall.

(Third embodiment)
FIG. 14D shows a third embodiment. The roll shaft bearing 44 is fixed to the frame 25 of the aircraft body 20 in the traveling direction of the wheels 46. The roll shaft 42 and the roll shaft bearing 44 are fitted rotatably. An axle 40 is fixed to both ends of the roll shaft 42 in parallel.
Here, since the wheel 46 and the two wheel fitting portions 48 are rotatably fitted, the roll shaft 42 can be inclined with respect to the traveling direction of the wheel. Therefore, while the propulsion unit 21 is inclined in the traveling direction of the wheel, the roll shaft 42 is rotatably fitted to the roll shaft bearing 44 fixed to the aircraft main body 20. 20 can rotate about a roll axis 42. Therefore, the propulsion unit 21 is inclined in two directions, and the lift generated by the propulsion unit 21 can be divided into the three directions of the traveling direction of the wheel 46, the horizontal direction, the vertical direction, and the direction of pressing the wall. Therefore, the flying object 1 having the wheels 48 can travel horizontally on the vertical wall.

FIG. 15 shows a state in which a vertical wall according to the second embodiment and the third embodiment is horizontally moved. FIG. 15A is a plan view (a diagram viewed from the front with respect to the wall), and FIG. 15B is a bottom view (a diagram viewed from a direction parallel to the wall). The X axis is perpendicular to the wall, the Y axis is horizontal, and the Z axis is vertical.
In FIG. 15B, since the wheel 46 and the two wheel fitting portions 48 are rotatably fitted, the roll shaft 42 can be inclined with respect to the traveling direction of the wheel. Therefore, the horizontal lift Fy and the wall lift Fx are generated. The lift force Fy rotates and moves the wheel 46, and the lift force Fx presses the wheel 46 against the wall and generates a frictional force between the wall and the wheel 46.
In FIG. 15A, in the flying body 20, the propulsion unit 21 is tilted by the rotation around the roll shaft 42, and a lift Fz vertically upward in the Z-axis direction is newly generated. The lift Fz prevents the flying object 1 from falling due to its own weight. Therefore, the flying object 1 having the wheels 48 can travel horizontally on the vertical wall.

As described above, the present invention has the following effects.
The invention 1 is an aircraft having an axle 11 attached to an aircraft body 20 having a propulsion unit 21 so as to be perpendicular to the traveling direction of the wheel 12 during land travel, and a roll shaft 22 orthogonal to the axle 11; A roll shaft bearing 23 rotatably fitted to the roll shaft 22, and one of the roll shaft 22 and the roll shaft bearing 23 is fixed to the flying body 20. Body 1.
According to the first aspect, the flying vehicle 1 having the wheels 12 can travel horizontally on a vertical wall. When the propulsion unit 21 of the flying object 1 is tilted around the axle 11 perpendicular to the traveling direction of the wheel 12, which is the main traveling direction, tilted around the roll shaft 22 orthogonal to the axle 11, and tilted in two directions, This is because the lift generated by the propulsion unit 21 can be divided into three directions, ie, a horizontal direction, a vertical direction, and a direction in which the wall is pressed. That is, the flying object 1 is prevented from falling by its own weight due to the lift in the vertical direction, the wheel 11 is pressed against the wall by the lifting force in the direction of pressing the wall, and the wheel 12 is rotated by the lifting force in the horizontal direction to be horizontal. Move in the direction. Furthermore, the vertical and inclined walls can be moved not only in the horizontal direction but also obliquely upward and downward.

A second aspect of the present invention is the flying body according to the first aspect of the present invention, wherein the flying body main body 20 includes a lock mechanism 30 that stops rotation.
According to the second aspect of the present invention, the locking mechanism 30 is provided so as not to rotate around the roll shaft 22 with respect to the axle 11 during normal traveling that does not travel horizontally on the vertical wall. Thereby, the traveling of the flying object can be stabilized during normal traveling.
The invention 3 is characterized in that the lock mechanism 30 fixes the lock portion 32 to the roll shaft 22, and fixes the axle 11 or the lock shaft 31 parallel to the axle to the lock portion 32 by the urging force of the elastic body 35. It is a flying object given in invention 2 to do.
According to the invention 3, the lock mechanism 30 can be configured with a simple structure.
A fourth aspect of the present invention is the flying body according to the third aspect, wherein the lock mechanism 30 is released when the wheel 12 abuts against a wall or the like and a force in a direction opposite to the urging force is generated.
According to the invention 4, the lock mechanism 30 can be released by contacting the wall or the like, so that the actual usability is improved.

The invention 5 has a roll fixed to the flying body 1 in the flying body 1 having the axle 40 attached to the flying body 20 having the propulsion unit 21 so as to be perpendicular to the traveling direction of the wheels 46 when traveling on land. A shaft 42, a roll shaft bearing 44 at both ends of the roll shaft 42, an axle 40 that is rotatably fitted to the roll shaft bearing 44, orthogonal to the roll shaft 42 and parallel to each other, and wheels 46 at both ends of the axle 40. A wheel fitting portion 48 that fits rotatably is provided, and a pair of wheel fitting portions 48 on one side is fitted to one wheel 46 and a pair of wheels on the other side with respect to the roll shaft 42. The wheel fitting portion 48 is a flying object 1 that is fitted with the other wheel 46.
According to the invention 5, the flying vehicle 1 having the wheels 46 can travel horizontally on the vertical wall. The aircraft body 20 having the propulsion unit 21 rotates around the roll axis 42 fixed to the aircraft body 20 and tilts around the axle 40 that is orthogonal to the roll axis 42. Therefore, because the propulsion unit 21 can be tilted in two directions, the lift force generated by the propulsion unit 21 can be divided into three directions, the horizontal direction, the vertical direction, and the direction of pressing the wall. The configured ring shape has no spokes and the like, and the inside can be hollow. Therefore, when the flying object 1 is traveled by an outdoor bridge or the like, the influence of the cross wind can be reduced. Further, since the axle 40 is in the traveling direction of the wheel 46, it has a protector function for protecting the flying body 20.
The invention 6 is a roll fixed to the flying body 20 in the flying body 1 having the axle 40 attached to the flying body 20 having the propulsion unit 21 so as to be perpendicular to the traveling direction of the wheels 46 when traveling on land. A shaft bearing 44, a roll shaft 42 rotatably fitted to the roll shaft bearing 44, an axle 40 that is orthogonal to the roll shaft 42 and parallel to each other are fixed to both ends of the roll shaft 42, and wheels 46 are attached to both ends of the axle 40. A pair of wheel fitting portions 48 on one side with respect to the roll shaft 42 are rotatably fitted to one wheel 48 and the other is fitted to the roll shaft 42. The pair of wheel fitting portions 48 on the side is the flying body 1 that is fitted with the other wheel 46.
According to the invention 6, the flying vehicle 1 having the wheels 46 can travel horizontally on the vertical wall. The aircraft body 20 having the propulsion unit 21 rotates and tilts around a roll shaft 42 fitted to a roll shaft bearing 44 fixed to the aircraft body 20, and also around an axle 40 that is orthogonal to the roll shaft 42. Tilt. Therefore, because the propulsion unit 21 can be tilted in two directions, the lift force generated by the propulsion unit 21 can be divided into three directions, the horizontal direction, the vertical direction, and the direction of pressing the wall. The configured ring shape has no spokes and the like, and the inside can be hollow. Therefore, when the flying object 1 is traveled by an outdoor bridge or the like, the influence of the cross wind can be reduced. Further, since the axle 40 is in the traveling direction of the wheel 46, it has a protector function for protecting the flying body 20.

In addition to aging tunnels and bridges, this aircraft can be used to inspect ceilings and walls of buildings such as buildings. That is, it is possible to collect data such as photographing the surface of a building by mounting inspection equipment such as a camera and a contact sensor on the flying object.

DESCRIPTION OF SYMBOLS 1 Flying object 10 Wheel part 11 Axle 12 Wheel
13 Axle fixing part
14 Axle fixing part
15 Crossing bracket
17 Spoke 20 Aircraft body 21 Propulsion unit 22 Roll shaft 23 Roll shaft bearing 25 Frame 30 Lock mechanism 31 Lock shaft (axle side)
32 Locking part (aircraft body side)
33 Groove 34 Guide
35 Elastic body 36 Elastic body fixing portion 40 Axle 42 Roll shaft 44 Roll shaft bearing 46 Wheel 48 Wheel fitting portion (with roller)
48a Guide 48b Color wall Wall floor

Claims (6)

In the flying body having an axle attached to the flying body main body having the propulsion unit so as to be perpendicular to the traveling direction of the wheel when traveling on land,
A roll axis perpendicular to the axle;
A roll shaft bearing rotatably fitted to the roll shaft,
One of the roll shaft and the roll shaft bearing is fixed to the flying body. The flying body according to claim 1, wherein the flying body has a lock mechanism for stopping the rotation. The lock mechanism fixes a lock portion to the roll shaft,
In the lock portion, the axle or a lock shaft parallel to the axle,
The flying body according to claim 2, wherein the flying body is fixed by an urging force of an elastic body. The flying body according to claim 3, wherein the lock mechanism is released when the wheel abuts against a wall or the like and a force in a direction opposite to the urging force is generated. In the flying body having an axle attached to the flying body main body having the propulsion unit so as to be perpendicular to the traveling direction of the wheel when traveling on land,
A roll shaft fixed to the aircraft body;
A roll shaft bearing at both ends of the roll shaft;
The axle that is rotatably fitted to the roll shaft bearing and is orthogonal to and parallel to the roll shaft;
A wheel fitting portion for fitting the wheel rotatably at both ends of the axle;
With respect to the roll shaft, the pair of wheel fitting portions on one side are fitted with one wheel,
The flying body, wherein the pair of wheel fitting portions on the other side is fitted with the other wheel. In the flying body having an axle attached to the flying body main body having the propulsion unit so as to be perpendicular to the traveling direction of the wheel when traveling on land,
A roll shaft bearing fixed to the aircraft body;
A roll shaft rotatably fitted to the roll shaft bearing;
Fixing the axles orthogonal to the roll axis and parallel to each other at both ends of the roll axis;
A wheel fitting portion for fitting the wheel rotatably at both ends of the axle;
With respect to the roll shaft, a pair of the wheel fitting portions on one side is rotatably fitted with one of the wheels,
The flying body, wherein the pair of wheel fitting portions on the other side is fitted with the other wheel.