JP2017159852A - Operation method of rotational fastening member - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation method of a rotational fastening member in which a rotational fastening member which is fastened by rotation can be operated using an unmanned flight body.SOLUTION: An unmanned flight body 1 can perform vertical movement, horizontal movement and horizontal rotation by controlling rotation of rotary wings 12A, 12B, 12C, 12D similar to a general drone. A socket part 13 for operating a hexagon nut 52 is provided on a lower surface side of the unmanned flight body 1 and on a position where is a rotation center of the horizontal rotation. The hexagon nut 52 attached to the socket part 13 is rotated by the horizontal rotation of the unmanned flight body 1 and is screwed to a bolt 51.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a method of operating a rotation fastening member that operates a rotation fastening member fastened by rotation.

  Japanese Patent Application Laid-Open No. 2004-228561 discloses a technique that enables easy and quick attitude control in a vertical take-off and landing vehicle (multi-copter) including a plurality of multi-blade rotors (propellers, rotor blades).

JP 2014-240242 A

  However, the unmanned aerial vehicle as described above is merely used for photographing with a camera, for example, and is not used for assembling a structure.

  This invention makes it a subject to provide the operation method of the rotation fastening member which can operate the rotation fastening member fastened by rotation using an unmanned air vehicle in view of said situation.

  In order to solve the above-mentioned problem, the operation method of the rotation fastening member of the present invention is for operating a rotation fastening member fastened by rotation to an unmanned air vehicle capable of horizontal rotation by controlling a plurality of rotor blades. And a rotating fastening member in the socket is rotated by horizontal rotation of the unmanned air vehicle.

  If it is this method, the rotation fastening member fastened by rotation can be operated using an unmanned air vehicle. Moreover, since the said rotation fastening member can be rotated, without providing the rotational power part which rotates a socket part, the said unmanned air vehicle can be reduced in weight, and improvement in flight controllability and energy saving of flight can be achieved.

  You may perform the horizontal rotation of the said unmanned air vehicle by rotating all the several rotary blades of the said unmanned air vehicle in the same direction. According to this, the said horizontal rotation can be performed at high speed and the rotation operation | work of the said rotation fastening member can be performed rapidly.

  An operator temporarily attaches the rotation fastening member to the other side fastening member to which the rotation fastening member is mounted, and the unmanned air vehicle flies to the place of the temporarily attached rotation fastening member and moves to the rotation fastening member. You may make it rotate the said rotation fastening member by fitting the said socket part. According to this, an operator's work burden is reduced.

  Alternatively, the rotation fastening member fitted in the socket portion is attached to the other side fastening member to which the rotation fastening member is attached while the unmanned air vehicle is flying and attached, and the rotation fastening member is rotated. May be. According to this, since it is unnecessary to temporarily attach the rotational fastening member to the counterpart fastening member to which the rotational fastening member is attached, the work burden on the operator is further reduced.

  A guide portion that guides the fitting of the socket portion may be formed on the rotation fastening member. According to this, the said rotation fastening member can be easily fitted in the said socket part.

  You may make it hold | maintain the other party fastening member with which the said rotation fastening member is mounted | worn with a rotation prevention tool. According to this, since the rotation of the counterpart fastening member can be prevented, the rotation fastening member can be reliably attached to the counterpart fastening member.

  If it is this invention, the rotation fastening member fastened by rotation can be operated using an unmanned air vehicle. In addition, since the rotation fastening member can be turned without providing a rotational power unit for rotating the socket part, it is possible to reduce the weight of the unmanned air vehicle, thereby improving flight controllability and saving energy of flight. Play.

It is the figure which showed schematic structure of the unmanned air vehicle concerning embodiment of this invention, the figure (A) is a front view, and the figure (B) is a top view. It is the figure which showed operation | movement of the unmanned air vehicle of FIG. 1, Comprising: The figure (A) shows the state which the hexagon nut fitted to the socket of the unmanned air vehicle, The figure (B) shows the hexagon nut of the bolt 51. The state which screwed to the screw part is shown. It is the block diagram which showed the control part of the unmanned air vehicle of FIG. It is explanatory drawing which illustrated the rotary wing operation | movement at the time of horizontal rotation of the unmanned air vehicle of FIG. It is explanatory drawing which showed the other example of rotary blade operation | movement at the time of the horizontal rotation of the unmanned air vehicle of FIG. It is explanatory drawing which showed preventing the rotation of a volt | bolt using a rotation prevention tool. It is the perspective view which showed the hexagon nut in which the guide part was formed. FIG. 4A is a perspective view showing a bolt or the like in which a guide portion is formed, and FIG. 4B is an explanatory view showing that the socket is guided by the guide portion.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in FIG. 1 (A) and FIG. 1 (B), the unmanned aerial vehicle 1 of this embodiment is called a drone (multi-copter) capable of autonomous flight, and has a central portion ( For example, four rotor blades 12A, 12B, 12C, and 12D are provided at equal intervals on the circumference centering on the center of gravity). The line connecting the rotation centers of the four rotor blades 12A, 12B, 12C, and 12D forms a square. While rotating to generate buoyancy, the other rotary blades 12B and 12D located on the diagonal line rotate clockwise in plan view to generate buoyancy. Adjacent rotor blades rotate in opposite directions.

  The unmanned air vehicle 1 can perform vertical movement, horizontal movement, and horizontal rotation by controlling the rotation of the rotor blades 12A, 12B, 12C, and 12D, as in a general drone. And the socket part 13 for operating the rotation fastening member fastened by rotation is provided in the lower surface side of this unmanned air vehicle 1 and the position used as the rotation center of the said horizontal rotation. The socket portion 13 includes a socket 13a having a hexagonal recess into which a hexagon nut, for example, which is a rotation fastening member is fitted, and a mounting portion 13b for detachably mounting the socket 13a on the unmanned air vehicle 1.

  In the autonomous flight of the unmanned air vehicle 1, for example, a predetermined area is scanned in a zigzag manner, and image recognition processing is performed based on a lower image captured by the mounted camera. A process of detecting a hexagonal object of a size is executed. For example, the object 5 is arranged in a predetermined area set in a factory or construction site, as shown in FIGS. 2 (A) and 2 (B). In this figure, only a part of the object 5 is shown. A large number of bolts (mating-side fastening members) 51 are arranged on the object 5 with their screw portions facing upward, and a hexagon nut 52 is finally tightened at the tip of the screw portion of each bolt 51 by an operator. It is attached without. When the unmanned aerial vehicle 1 performs the autonomous flight and recognizes a hexagonal object having a predetermined size, the unmanned air vehicle 1 uses the hexagonal object as a hexagon nut 52 and performs a descending operation so that the socket 13a is fitted thereto. For example, a proximity switch is provided in the socket 13a, and it can be detected that the hexagon nut 52 is fitted in the socket 13a by turning on / off the proximity switch. In addition, you may make it recognize this mark by image recognition etc. by attaching a mark to the other party fastening member.

  As shown in FIG. 3, the control unit 3 of the unmanned air vehicle 1 includes a microcomputer 3a, a storage unit 3b, a position information generation unit 3c, a communication unit 3d, a sensor unit 3e, a camera 3f, and the like. The storage unit 3b stores an operation program for executing the scanning flight and turning the hex nut, a program for the image recognition, and the like. The position information generation unit 3c includes a GPS (global positioning system), an indoor position positioning system, and the like. The indoor position measurement system may be a system using a beacon, a light wave distance measuring device, a fixed camera, or the like. As an example of using the fixed camera, the predetermined area is imaged by a fixed camera arranged on the ceiling side, and the position is recognized by recognizing where the unmanned air vehicle 1 exists in the captured image. In order to facilitate the process of recognizing the unmanned air vehicle 1, for example, the unmanned air vehicle 1 may be provided with one or a plurality of light emitting units. The communication unit 3d receives, for example, a captured image of the predetermined area transmitted from the fixed camera side.

  The sensor unit 3e includes the proximity switch, an optical sensor that detects an obstacle in the horizontal and vertical directions of the unmanned air vehicle 1, and the like. The camera 3 f captures an image of the lower side of the unmanned air vehicle 1.

  As an example, the microcomputer 3a includes (1) position information from the position information generation unit 3c, that is, a process of determining a moving direction based on where in the predetermined area, (2) determination (3) a process for detecting a hexagonal object (hexagonal nut) of a predetermined size based on the captured image of the camera 3f, and (4) detection. Rotation blade operation control for lowering the socket 13a so that the socket 13a is fitted to the hexagon nut 52, (5) In order to allow the hexagon nut to be imaged in a predetermined posture at the center of the captured image of the camera 3f during the lowering. (6) Determination of whether or not the hexagon nut 52 is fitted in the socket 13a (7) Rotary blade operation control for horizontally rotating the unmanned air vehicle 1 so as to turn the hexagon nut 52, (8) Turn the hexagon nut 52 to the end (not the final tightening with a predetermined torque) (9) Rotating blade operation control for raising the unmanned air vehicle 1 is performed. The microcomputer 3a repeats the above processes (1) to (9), determines whether all of the predetermined area has been scanned, and determines that all have been scanned. Rotational blade operation control to return to the home position.

  The rotor blades 12A, 12B, 12C, and 12D are connected to the rotation shafts of the four motors 120, and the microcomputer 3a controls the operation of the rotor blades by controlling the four motors 120. Do. Here, when the unmanned air vehicle 1 is caused to fly, as shown in FIG. 1 (B), the rotational directions of the pair of rotor blades 12A and 12C and the pair of rotor blades 12B and 12D located on the diagonal line are set to each other. Make it different. And when making the said unmanned air vehicle 1 perform horizontal rotation, the rotational speed of the group of rotary blades 12A and 12C located on a diagonal line, and the group of rotary blades 12B and 12D is mutually different. However, this makes it difficult to obtain a large rotational force during horizontal rotation.

  Therefore, as shown in FIG. 4, for example, when the unmanned air vehicle 1 is rotated horizontally in a plan view, after the rotor blades 12A, 12B, 12C, and 12D, the pair of rotor blades 12A and 12C is stopped. Also good. Thereby, the speed of the horizontal rotation can be increased.

  Furthermore, as shown in FIG. 5, all of the rotor blades 12A, 12B, 12C, and 12D can be rotated counterclockwise. In this way, buoyancy is reduced or offset, but the speed of the horizontal rotation can be further increased. Here, the positive and negative of the supplied power may be instantaneously reversed with respect to the motor 120 of the rotor blade 12B and the rotor blade 12D that originally rotated in the clockwise direction. The power supply to the motor 120 of the blade 12D may be temporarily stopped and then the positive / negative of the supplied power may be reversed.

  As shown in FIG. 6, the object 5 is provided with a rotation preventing tool 53 that prevents the bolt (mating-side fastening member) 51 from rotating together, and the hexagon nut (rotating fastening member) 52 is attached to the object 5. It can be turned reliably. The anti-rotation tool 53 extends from each contact portion, a hexagonal portion that contacts the hexagonal surface of the hexagonal head of the bolt 51, a contact portion that contacts three side surfaces of the six side surfaces of the hexagonal head, and the like. And an attachment portion. For example, the attachment portion adheres to a member constituting the object 5 by magnetic force, adhesive force, welding, or the like. The operator only has to insert the bolt 51 through a number of holes formed in the object 5 and attach the anti-rotation tool 53 to the hexagonal head. At this time, the hexagon nut 52 can be temporarily attached to the tip end side of the screw portion of the bolt 51.

  If it is said structure, many hexagon nuts 52 temporarily attached to the front end side of the screw part of many bolts 51 which exist in the said target object 5 can be rotated with the said unmanned air vehicle 1. FIG. Further, since the hexagon nut 52 can be turned without providing a rotary power unit for rotating the socket portion 13, the unmanned air vehicle 1 can be reduced in weight to improve flight controllability and to save energy of flight. it can.

  Moreover, since the hexagon nut 52 can be operated using the unmanned air vehicle 1 as described above, the operator only turns the hexagon nut 52 to the tip of the screw portion of each bolt 51 several times and then the above. The unmanned aerial vehicle 1 will turn, and finally, if necessary, the operator may finally tighten the hexagon nut 52 with a predetermined torque.

  The unmanned air vehicle 1 holds the hexagon nut 52 in the socket 13a, and the unmanned air vehicle 1 itself attaches the hexagon nut 52 to the front end side of the screw portion of the bolt 51. Good. According to this, the operator only needs to perform the final final tightening on the hexagon nut 52 if necessary, and the work load is further reduced.

  For example, a robot hand (not shown) holds the hex nut 52 supplied from the hex nut supply unit with an electromagnet, and places the hex nut 52 horizontally at a predetermined position. When the unmanned air vehicle 1 holds the hexagon nut 52 in the socket 13a, the unmanned air vehicle 1 flies to the installation position of the robot hand and descends so that the socket 13a fits into the detected hexagon nut. The socket 13a is provided with an electromagnet for holding the hexagon nut 52 with a magnetic force, for example. When the unmanned air vehicle 1 detects that the hex nut 52 is fitted in the socket 13a by means of a proximity switch (not shown) provided in the socket 13a, for example, the electromagnet is turned on to cause the hex nut 52 to be magnetized. Hold. Further, the unmanned air vehicle 1 notifies the robot hand side that the magnetic force has been retained by wireless communication, and releases the magnetic force retention on the robot hand side. The unmanned air vehicle 1 performs the above-described scanning flight, recognizes the tip of the bolt 51 of the object 5, and rotates the hexagon nut 52 attached to the tip of the bolt 51. If a reflector (such as an inexpensive aluminum foil) is attached to the tip of the bolt 51, the tip of the bolt 51 can be easily recognized by image recognition by the microcomputer 3a. The unmanned air vehicle 1 turns off the electromagnet after the rotation of the hexagonal nut, and ascends to fly to the location of the robot hand to pick up a new hexagonal nut.

  As shown in FIG. 7, a mountain-shaped portion 52 a may be provided on the upper surface of the hexagon nut 52 as a guide portion for guiding the fitting of the socket 13 a. The mountain-shaped portion 52a may be formed on the hex nut 52 itself, or may be attached to the normal hex nut 52 with a magnetic force or adhesive, or can be removed. When the mountain-shaped portion 52a is formed, the socket 13a is guided to the mountain-shaped portion 52a, and the socket 13a is smoothly fitted to the hexagon nut 52 temporarily attached to the bolt 51. Further, when the hexagonal nut 52 is fitted into the socket 13a using the robot hand, the hexagonal nut 52 can be fitted into the socket 13a when the mountain-shaped portion 52a is formed. It becomes easy.

  Further, as shown in FIGS. 8A and 8B, a thin shaft portion 51a is formed on the distal end side of the screw portion of the bolt 51 as a guide portion for guiding the fitting of the socket 13a. May be. When the thin shaft portion 51a is formed, the socket 13a is guided to the thin shaft portion 51a when the unmanned air vehicle 1 fits the socket 13a to the hexagon nut 52. The socket 13a can be fitted to the hex nut 52 without any problem even if the center of the is slightly deviated from the thin shaft portion 51a.

  If the unmanned air vehicle 1 is formed with a through-hole 11a through which the thin shaft portion 51a is inserted, and the socket 13a is similarly formed with a through-hole, the thin shaft portion 51a does not become an obstacle. The unmanned air vehicle 1 can be lowered. Further, the socket 13a may be formed with a tapered concave portion that guides the thin shaft portion 51a to the center portion of the socket, and the thin shaft portion 51a is formed to be thinner toward the tip side. May be. When the unmanned air vehicle 1 itself directly attaches the hexagon nut 52 held in the socket 13 a to the bolt 51 of the object 5, the thin shaft portion 51 a attaches the hexagon nut 52 to the screw portion of the bolt 51. It will be helpful to guide you to.

  In the said embodiment, although operation which screwed the hexagon nut 52 to the volt | bolt 51 was shown, it is not restricted to this, Operation which screwes a volt | bolt to the screw hole of a target object can also be performed. The socket 13a has a hexagonal recess, but is not limited to such a hexagon. The socket 13a is not limited to having a concave portion, and may have a hexagonal convex portion, for example. Moreover, although the said unmanned air vehicle 1 was comprised so that a program flight might be carried out, you may make it control a flight and horizontal rotation using a remote controller. When the remote controller is used, it is preferable that an operator can see a captured image of the fixed camera arranged on the ceiling side and the camera 3f mounted on the unmanned air vehicle 1 on a display.

  As mentioned above, although embodiment of this invention was described with reference to drawings, this invention is not limited to the thing of embodiment shown in figure. Various modifications and variations can be made to the illustrated embodiment within the same range or equivalent range as the present invention.

1: Unmanned flying vehicle 3: Control unit 3a: Microcomputer 3b: Storage unit 3c: Position information generation unit 3d: Communication unit 3e: Sensor unit 3f: Camera 5: Object 11: Body 11a: Through hole 12A: Rotary wing 12B: Rotor blade 12C: Rotor blade 12D: Rotor blade 13: Socket portion 13a: Socket 13b: Mounting portion 51: Bolt 51a: Thin shaft portion (guide portion)
52: Hex nut (fastening member)
52a: mountain-shaped part (guide part)
53: Anti-rotation device

Claims (6)

  A socket part for operating a rotary fastening member fastened by rotation is provided on an unmanned air vehicle capable of horizontal rotation by controlling a plurality of rotor blades, and the socket part is rotationally fastened by horizontal rotation of the unmanned air vehicle. A method for operating a rotary fastening member, wherein the member is rotated.   2. The rotating fastening member according to claim 1, wherein the unmanned air vehicle is horizontally rotated by rotating all of the plurality of rotor blades of the unmanned air vehicle in the same direction. How to operate.   3. The method of operating a rotary fastening member according to claim 1 or 2, wherein an operator temporarily attaches the rotational fastening member to a mating fastening member to which the rotational fastening member is attached, and the unmanned flying vehicle serves as the temporary fastening member. A method of operating a rotary fastening member, wherein the rotary fastening member moves in flight to the attached rotary fastening member, and the rotary fastening member is rotated by fitting the socket portion into the rotational fastening member.   3. The method of operating a rotary fastening member according to claim 1 or 2, wherein the unmanned aerial vehicle flies to a mating fastening member to which the rotational fastening member is attached. A method for operating a rotation fastening member, wherein the rotation fastening member is rotated and mounted, and the rotation fastening member is rotated.   The method of operating a rotary fastening member according to claim 3 or 4, wherein a guide portion for guiding the fitting of the socket portion is formed on the rotary fastening member. .   The rotation fastening member according to any one of claims 1 to 5, wherein the other side fastening member to which the rotation fastening member is mounted is held by a rotation preventing tool. How to operate.

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