JP2020026202A - Flight body including development device of paraglider - Google Patents

Abstract

To provide a flight body including a development device of a paraglider which can adjust drawing condition of a break cord according to a range to be steered.SOLUTION: A development device 80 of a paraglider mounted on a flight body includes an actuator 88, a paraglider 1 and brake cord tension devices 10. The actuator 88 includes a gas generator 84 having a cup-like case 85 storing an ignition charge (unshown), a piston 81 having a recess 82 and a piston head 83 formed integrally with the recess 82, and a housing 86 which stores the piston 81, restricts a propulsion direction of the piston 81 and has a bottom and is cylindrical. A pair of the brake cord tension devices 10 include a support base 11, a servo motor 12, a reel shaft 13 and a reel 14, and is provided corresponding to right and left brake cords 4.SELECTED DRAWING: Figure 2

Description

  TECHNICAL FIELD The present invention relates to a flying object provided with a paraglider deployment device.

  In recent years, with the development of autonomous control technology and flight control technology, the use of flying objects in industry has been accelerating. An example of this flying object is a drone. The drone flies, for example, by rotating a plurality of rotors in a well-balanced manner at the same time, ascending and descending by increasing or decreasing the rotation speed of the rotor, and advancing and reversing by tilting the aircraft via increasing or decreasing the rotation speed of the rotor. This can be achieved by doing

  On the other hand, the risk of the above-mentioned falling accident of the flying object is regarded as dangerous, which hinders the spread of the flying object. In order to reduce the risk of such a fall accident, a deployment device of a parachute or paraglider, an airbag device, and the like are being commercialized as safety devices. For example, in Patent Literature 1, a resilient force of a spring is used to operate a piston in a cylinder, and the operation of the piston injects a canopy (cloth of a paraglider) to the outside from an opening to open the umbrella. An unmanned aerial vehicle (aircraft) capable of steering the canopy by pulling the canopy through a break cord afterwards is disclosed.

JP 2018-43467 A

  However, in the above-mentioned conventional flying body, although the break cord can be pulled, the tip of the break cord is connected to the other end with the one end of the break cord operating portion having a flat bar shape as an axis. The tension of the break cord can be adjusted only within the range of the rotation angle of the flat bar.

  Therefore, the present invention has been made in view of such circumstances, and it is an object of the present invention to provide a flying object equipped with a paraglider deployment device capable of adjusting a tension of a break cord according to a range to be steered. I do.

(1) The flying object of the present invention includes a flying object body and a paraglider deploying device installed in the flying object body, wherein the paraglider deploying device has a canopy and one end connected to the canopy. A break cord, a break cord pulling device capable of pulling or sending out the break cord by winding or unwinding the break cord, a storage unit for storing the canopy in a closed state, And an ejection section for ejecting the canopy provided in the section.

  It should be noted that among the above-mentioned paragliders, there are logarithmic paragliders having the same configuration as above. In addition, in order to maintain the wing shape by using ram air, paragliders mainly have an air intake, but some do not (a single surface or the like). For stable flight, a paraglider with an air intake is more preferable. Further, a paraglider that can fly with a propulsion force by attaching a propulsion device such as a propeller may be used.

  According to the above configuration (1), the tension of the break cord can be adjusted according to the range to be steered by winding or unwinding the break cord. Thus, the flying object of the present invention can easily change the traveling direction to the direction desired by the operator, for example, by one-time steering, and sufficiently reduce the descent speed immediately before landing. Therefore, it is possible to make a soft landing and reduce the impact of the collision. Further, according to the flying object of the present invention, even when applied to an industrial large flying object, each of the above effects can be sufficiently achieved.

(2) In the flying object according to the above (1), it is preferable that the break cord pulling device has a guide portion for guiding the break cord in a pulling direction or a feeding direction.

(3) In the flying object according to the above (2), the break cord pulling device further has a winding portion around which the break cord can be wound, and the guide portion is provided on an outer periphery of the winding portion. It is preferable to have a cylindrical portion, and the cylindrical portion is provided with a slit or a hole for guiding the break cord.

  According to the configuration of (2) or (3), when winding or unwinding the break code, the break code can be prevented from becoming entangled.

It is a front view showing the state where the paraglider mounted on the flying object in the first embodiment of the present invention was expanded. FIG. 2 is a cross-sectional view showing the paraglider deployment device in FIG. 1, in a state before operation. FIG. 2 is a block diagram illustrating a control configuration of a paraglider deployment device in the flying object of FIG. 1. It is sectional drawing which shows the deployment device of the paraglider mounted in the flying object in 2nd Embodiment of this invention, and is a figure of the state before operation | movement. It is a figure showing a part of break cord tension device applied to the flying object concerning a modification of the present invention.

<First embodiment>
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

  As shown in FIG. 1, the flying body 30 is provided at a lower part of the airframe 31, one or more propulsion mechanisms (for example, propellers) 32 coupled to the airframe 31, and propelling the airframe 31. A plurality of legs 33 and a paraglider deployment device 80.

  In FIG. 1, a paraglider 1 includes a canopy 2 having an airfoil shape as a whole by trapping air, and a plurality of suspension ropes 3 extending downward from the canopy 2 and connected to a flying object 30. .

  As shown in FIG. 1, the canopy 2 is formed so as to extend in a substantially circular arc shape in the left-right direction above the flying object 30 when the paraglider 1 is viewed from the front. Further, the suspension ropes 3 (lines) extend from the canopy 2 to the flying object 30 such that the four suspension ropes 3 (lines) are bilaterally symmetric. Note that the suspension cable 3 may be connected at one end to a device attached to the flying object 30.

  The pair of left and right break cords 4 are for maneuvering the flying object 30, and one end is provided at the rear end portion of the canopy 2 symmetrically branching four at a time, and one end at the other end is provided. Are connected to a reel 14 of each break cord pulling device 10 described later.

  In an emergency, the flying body 30 deployed by the paraglider deployment device 80 can control turning, ascending, or descending by operating the break cords 4 on the left and right to change the wind pressure resistance received by deforming the canopy 2. It has become. For example, when turning the flying object 30 to the right, the right-side brake cord 4 is pulled to increase the resistance at the right side of the canopy 2, thereby reducing the right speed of the canopy 2 to change the direction. Further, when the flying object 30 is landed, the landing speed is reduced by pulling the left and right break cords 4 to increase the resistance of the entire canopy 2 so that the descent speed is reduced. The operation of pulling the break cord 4 is an operation of winding the break cord 4 around a reel 14 of a break cord pulling device 10 described later.

  As shown in FIG. 2, the paraglider deployment device 80 before operation includes an actuator 88, the paraglider 1, and the break cord tension device 10. The actuator 88 includes a gas generator 84 having a cup-shaped case 85 for accommodating an ignition charge (not shown), a concave portion (concave member) 82, and a piston head 83 (launch table) formed integrally with the concave portion 82. And a bottomed cylindrical housing 86 (container) that accommodates the piston 81 and regulates the propulsion direction of the piston 81.

  Further, as shown in FIG. 2, a communication portion S <b> 1 that is a gap is formed between the inner wall of the housing 86 and the outer peripheral portion of the piston head 83. When the piston 81 moves (is ejected in the direction of the arrow in FIG. 2), the space S between the inner wall of the housing 86 and the piston head 83 has a negative pressure. Since it flows, the negative pressure at this time can be reduced, and the movement of the piston 81 can be made smooth.

  The gas generator 84 is provided in the recess 82. A gas outlet is provided at the tip of the gas generator 84, and a gas serving as a driving force for injecting the piston 81 in the direction of the arrow in FIG. it can. Further, a seal member 89 such as an O-ring is provided between the concave portion 82 and the outer wall of the gas generator 84 so that gas leakage does not occur during operation.

  Although not shown, the gas generator 84 is small and lightweight, and includes a cup body filled with a gas generating agent, an igniter for igniting the gas generating agent, and a holder for holding the igniter. It is provided. The gas generator 84 is, for example, a micro gas generator, but may be any device as long as it can generate gas. The gas generating agent is an agent (explosive or propellant) that is ignited by the thermal particles generated by the operation of the igniter and generates gas by burning.

  In general, gas generators can be broadly classified into non-explosive and explosive types. The non-explosive type mainstream is to connect a sharp member such as a needle and a compressed spring to a gas cylinder filled with gas such as carbon dioxide or nitrogen, and use the spring force to fly the sharp member and seal the cylinder. The gas is released by colliding with the sealing plate. At this time, a drive source such as a servomotor is usually used to release the compression force of the spring. Next, in the case of an explosive type, an igniter may be used alone, or an igniter and a gas generating agent may be provided. Further, a hybrid type or stored type gas generator may be used in which the sealing plate of a small gas cylinder is opened by the force of explosive and the gas inside is discharged to the outside. In this case, the pressurized gas in the gas cylinder is selected from at least one or more of nonflammable gases such as argon, helium, nitrogen, and carbon dioxide. Further, an explosive-type heating element may be provided in the gas generator in order to reliably inflate when the pressurized gas is released. Further, the gas generator may be provided with a filter and / or an orifice for adjusting the gas flow rate as required.

  As the gas generating agent, it is preferable to use a non-azide-based gas generating agent. Generally, the gas generating agent is formed as a molded article containing a fuel, an oxidizing agent, and an additive. As the fuel, for example, a triazole derivative, a tetrazole derivative, a guanidine derivative, an azodicarbonamide derivative, a hydrazine derivative or the like, or a combination thereof is used. Specifically, for example, nitroguanidine, guanidine nitrate, cyanoguanidine, 5-aminotetrazole and the like are suitably used. The oxidizing agent is selected from, for example, basic nitrates such as basic copper nitrate, perchlorates such as ammonium perchlorate and potassium perchlorate, or alkali metals, alkaline earth metals, transition metals, and ammonia. A nitrate containing a cation is used. As the nitrate, for example, sodium nitrate, potassium nitrate and the like are suitably used. In addition, examples of the additives include a binder, a slag forming agent, a combustion regulator, and the like. As the binder, for example, an organic binder such as a metal salt of carboxymethylcellulose and a stearate, or an inorganic binder such as synthetic hydroxytalcite and acid clay can be suitably used. As the slag forming agent, silicon nitride, silica, acid clay and the like can be suitably used. Further, as the combustion regulator, metal oxide, ferrosilicon, activated carbon, graphite, etc. can be suitably used. Further, a single base explosive, a double base explosive, or a triple base explosive containing nitrocellulose as a main component may be used.

  The shape of the molded article of the gas generating agent includes various shapes such as a granular shape such as a granule, a pellet, and a column, and a disk. In addition, in the case of a cylindrical shape, a perforated (for example, a single-hole cylindrical shape or a perforated cylindrical shape) having a through hole inside the molded body is also used. Further, it is preferable to appropriately select the size and the filling amount of the molded body in consideration of the linear burning speed, the pressure index, and the like of the gas generating agent in addition to the shape of the gas generating agent.

  In such a configuration, the paraglider 1 can be directly pushed out and deployed by the propulsion of the piston 81. Note that the opening end of the housing 86 is closed by a lid 87 in an initial state, and is detached from the opening end by the pushing of the paraglider 1.

  As shown in FIG. 2, the break cord pulling device 10 includes a support base 11, a servomotor 12, a reel shaft 13, and a reel 14, and a pair is provided so as to correspond to the left and right break cords 4. ing.

  The support base 11 is fixed to the upper part of the fuselage 31 in the housing 86 of the flying body 30. The servomotor 12 is fixed to one side of the support base 11 and has an output shaft integrated with one end of the reel shaft 13. The reel 14 is supported rotatably around the reel shaft 13. With these configurations, each break cord pulling device 10 appropriately performs an operation of winding the left and right break codes 4 on each of the left and right reels 14 or an operation of feeding out the left and right break codes 4 from each reel 14 by the servo motor 12. It can be carried out.

  As shown in FIG. 3, the paraglider developing device 80 includes a sensor unit 5, a control unit 6, a battery 7, a storage unit 8 for storing information transmitted from the control unit 6, and an operation signal from the controller 40. And a transmitting / receiving unit 9 for transmitting information of the flying object 30 to the controller 40, and the like, and can be mounted on the flying object 30. In addition, the paraglider 1 and the suspension cable 3 of the paraglider deployment device 80 in a normal state (before deployment) are folded and housed in a cylindrical housing 86, and the control unit ( After being ejected from the inside of the housing 86 to the outside by the activation of the actuator 88 (see FIG. 2) or the like which has received the abnormal signal from the unillustrated signal, it is developed and used as shown in FIG.

  The sensor unit 5 detects the altitude of the flying object 30 and outputs an altitude detection signal, which is detected altitude information, to the control unit 6. The sensor unit 5 detects the distance between the flying object 30 and the obstacle, and outputs a distance detection signal, which is detected distance information, to the control unit 6. Further, the sensor unit 5 detects an abnormality of the flying object 30 and outputs an abnormality signal to the control unit 6 based on the detected information. The sensor unit 5 includes an acceleration sensor, a gyro sensor, a barometric pressure sensor, a GPS, a laser sensor, an ultrasonic sensor, an infrared sensor, a millimeter wave radar, a submillimeter wave radar, a speed sensor, and a wind direction detection sensor as necessary. It is preferable that at least one of them is included.

  The control unit 6 is a computer having a CPU, a ROM, a RAM, and the like, and controls the left and right break cord tension devices 10 by transmitting an operation signal as needed. A signal for operating or stopping each of the ten servo motors 12 is output. Further, the control unit 6 receives an altitude detection signal (including altitude information of the flying object 30) in real time from the sensor unit 5 and operates the left and right break cord tensioning devices 10 according to the received altitude detection signal. A determination is made as to whether or not it is not. Further, when the sensor unit 5 detects that an abnormality has occurred in the flying object 30, the control unit 6 receives an abnormal signal from the sensor unit 5, and in response to the received abnormal signal, the gas generator 84 in the actuator 88. Is activated.

  The controller 40 is for operating the flying object 30 by an operator, and transmits an operation signal to the transmission / reception unit 9 based on an input of the operator. This allows not only the normal operation of the flying object 30 but also the operation of the break cord tension device 10 in an emergency. Further, the controller 40 can receive various information such as a flight state (including an abnormal state) of the flying object 30 from the transmission / reception unit 9.

  Next, the operation of the paraglider deployment device 80 will be described.

  First, when the flying object 30 is in an emergency during a flight, the sensor unit 5 detects an abnormal state and transmits an abnormal signal to the control unit. The control unit 6 that has received the abnormal signal transmits an operation signal to the actuator 88 of the paraglider deployment device 80. The actuator 88 that has received the operation signal activates the gas generator 84 to eject the paraglider 1 from the inside of the housing 86 of the flying object 30 to the outside, and deploys the paraglider 1 to the state shown in FIG. The break cord tensioning device 10 brings the break cord 4 into a state in which the break cord 4 can be fed out in accordance with the operation of the gas generator 84. For example, the servomotor 12 is operated to rotate the reel 14 in the direction in which the break code 4 is extended, or the rotation of the reel 14 is set to a free state, and the firing force of the paraglider 1 (gas pressure of the gas generator 84). Is used to make the break cord 4 pulled out.

  Subsequently, after the paraglider 1 is deployed, the break cord pulling device 10 pulls or unwinds the break cord 4 based on an operation signal from the controller 40 while gradually lowering the altitude of the flying body 30, and Steer 30 and make a soft landing in a safe place.

  According to the flying object 30 of the present embodiment, the tension of the break cord 4 can be adjusted according to the range to be steered by winding or unwinding the break cord 4. Thus, the flying object 30 can easily change the traveling direction to the direction desired by the operator, for example, by one-time steering, and sufficiently reduce the descending speed just before landing. Therefore, it is possible to make a soft landing and reduce the impact of the collision. Further, according to the flying object 30, even when applied to an industrial large flying object, each of the above effects can be sufficiently achieved.

<Second embodiment>
Hereinafter, an aircraft according to a second embodiment of the present invention will be described. Unless otherwise described, and the same reference numerals with the same last two digits as those in the first embodiment are the same as those in the first embodiment, unless otherwise specified, the description may be omitted.

  The flying object of the present embodiment (the entire view is not shown) uses a paraglider deploying device 180 shown in FIG. 4 instead of the paraglider deploying device 80 of the first embodiment. It is different from the form.

  The paraglider deployment device 180 has substantially the same configuration as the paraglider deployment device 80 of the first embodiment, except that the break cord tension device 110 is provided on the outer wall of the housing 186, as shown in FIG. Is different. Further, before the operation of the paraglider deployment device 80, the break cord 104 is sandwiched between the lid 187 and the upper end of the housing 186 so as not to be affected by wind. Further, the space S2 corresponds to the space S of the first embodiment, and the communication portion S3 corresponds to the communication portion S1 of the first embodiment. As a modification, the break cord pulling device 110 may be provided at any position of the flying object of the present embodiment as long as the break cord pulling device 110 is not entangled with the propulsion mechanism.

  According to the flying object of the present embodiment, the same operational effects as those of the first embodiment can be obtained.

  As described above, the embodiments of the present invention have been described, but they are merely specific examples, and do not limit the present invention. The specific configuration and the like can be appropriately changed in design. Further, the actions and effects described in the embodiments of the invention merely enumerate the most preferable actions and effects resulting from the present invention, and the actions and effects according to the present invention are described in the embodiments of the present invention. It is not limited to what was done.

  For example, as shown in FIG. 5, a cylindrical guide member 215 may be provided on the outer periphery of the reel 214. The guide member 215 is fixed to a support table, and a slit 215 a is provided along the axial direction of the guide member 215. The break cord 204 is guided by the slit 215a, and can be wound up or reeled out on a reel 214. Thereby, when winding or unwinding the break code 204, the break code 204 can be prevented from becoming entangled. Note that the slit 215a may be a hole. Here, parts that are not described in the present modified example, parts that use the same language, and parts that have the same last two digits as those in the first embodiment are the same parts as in the first embodiment. Is omitted.

  In each of the above embodiments and modifications, the deployment device of the paraglider is provided with two break cord pulling devices corresponding to the left and right break cords. It may be configured to be wound up.

  Further, in the above-described embodiment and modified examples, the break cord pulling device is operated by the operator using the controller, but is not limited thereto. For example, based on various information obtained by the sensor unit, based on the prediction of collision with the ground, buildings, people, animals, etc., so as not to collide or mitigate the impact of the collision, the control unit may be automatically piloted Good.

DESCRIPTION OF SYMBOLS 1, 101 Paraglider 2 Canopy 3 Hanging cable 4, 104, 204 Break code 5 Sensor unit 6 Control unit 7 Battery 8 Storage unit 9 Transmitting and receiving unit 10, 110 Break cord pulling device 11, 111 Support base 12, 112 Servo motor 13, 113 Reel shaft 14, 114, 214 Reel 30 Flying body 31 Body 33 Leg 40 Controller 80, 180 Paraglider deployment device 81, 181 piston 82, 182 recess 83, 183 piston head 84, 184 Gas generator 85, 185 Case 86 , 186 Housing 87, 187 Lid 88, 188 Actuator 89, 189 Sealing member 215 Guide member 215a Slit S, S2 Space S1, S1 Communication part

Claims (3)

The flying body,
A deployment device for a paraglider installed on the flying body,
The deployment device of the paraglider,
With a canopy,
A break cord having one end connected to the canopy;
A break cord pulling device capable of pulling or sending out the break cord by winding or unwinding the break cord;
A storage unit that stores the canopy in a closed state,
An ejection unit that is provided in the storage unit and ejects the canopy;
A flying object comprising:   The flying object according to claim 1, wherein the break cord pulling device has a guide portion for guiding a pulling direction or a sending direction of the break cord. The break cord pulling device further includes a winding portion that can wind the break cord,
The guide portion has a cylindrical portion provided on the outer periphery of the winding portion,
The flying object according to claim 2, wherein the cylindrical portion is provided with a slit or a hole for guiding the break code.

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