JP2021084641A - Discharge device - Google Patents

Abstract

To provide a highly reliable discharge device which surely actuates even though one part fails, by adopting a redundant structure in a drive part.SOLUTION: A discharge device of an aerosol container includes: a drive mechanism for driving an actuator in the aerosol container; and a plurality of driving sources for driving the drive mechanism. The drive mechanism executes the discharge of the aerosol container by the driving force of one or more of the plurality of driving sources, and even when one driving source fails, the discharge of the aerosol container can be executed by the driving force of other driving sources.SELECTED DRAWING: Figure 1

Description

The present invention relates to, for example, a discharge device for discharging contents from an aerosol container, and more particularly to a technique for countermeasures against failures.

Conventionally, as a discharge device for this type of aerosol container, for example, a bee extermination device as described in Patent Document 1 is known. This bee extermination device is provided with a drug supply unit that supplies a drug to the honeycomb inside the machine body, and an aerosol container is attached to the drug supply unit as an injection device.
Then, when exterminating the bees, while visually recognizing the image of the camera mounted on the aircraft, fly the unmanned flying object close to the beehive and hover, so that the injection hole of the drug supply unit (nozzle) faces the beehive. In addition, the movement button located on the controller is operated to spray the drug.
As a discharge device using such an aerosol container, in addition to the one mounted on the flying object, for example, an animal repellent device such as Patent Document 2 has been proposed.

JP-A-2017-104063 Japanese Unexamined Patent Publication No. 2017-9299

However, in the case of the device of Patent Document 1 described above, if the drive unit of the discharge device breaks down, it is necessary to return the flying object and repair it, which hinders the work while working within a limited time. To bring up.
Further, the same applies to the case of Patent Document 2, when the drive unit of the discharge device breaks down, even if an animal is detected, the repellent is not discharged, and damage caused by the animal cannot be prevented.
An object of the present invention is to provide a highly reliable discharge device that operates reliably even if a part of the drive unit fails by adopting a redundant structure for the drive unit.

In order to achieve the above object, the discharge device of the present invention
It is a discharge device for aerosol containers.
It has a drive mechanism for driving the actuator of the aerosol container and a plurality of drive sources for driving the drive mechanism.
The drive mechanism is characterized in that the aerosol container is discharged by one or more driving forces among the plurality of drive sources.
In this way, even if one drive source fails, the aerosol container can be discharged by the drive force of the other drive source.

This discharge device can be configured as follows.
1. 1. The drive source is a rotary drive source, and the drive mechanism includes a motion conversion mechanism that converts the rotary motion of the rotary drive source into a linear motion that drives the actuator.
2. The plurality of rotational drive sources are provided with a main rotation shaft on the drive side to be rotated by merging their respective rotational movements, and the main rotation shaft is connected to the motion conversion mechanism.
3. 3. The plurality of drive sources may be configured to be connected to the main rotation shaft via a one-way clutch.
In the one-way clutch, torque is transmitted from the drive source to the main rotation shaft when the drive source and the main rotation shaft rotate relative to each other, and when the drive source and the main rotation shaft rotate relative to each other in the opposite direction. , The transmission of torque from the drive source to the main rotating shaft is cut off.
When one drive source is stopped, the drive source is in the direction of reversing relative to the main rotation shaft, and the transmission of the drive torque from the drive source is cut off.
4. Further, the plurality of drive sources may be configured to rotate the main rotation shaft via the differential gear mechanism.
In this way, even if one drive source fails and stops, the differential gear mechanism allows the main rotation shaft to rotate, and the other drive source drives the main rotation shaft.
Further, when the rotation speeds of the respective drive sources are different, the rotation difference can be absorbed.
5. A plurality of drive mechanisms for driving the actuator may be provided, and each drive mechanism may be independently driven by a different drive source.
6. The drive source can be a drive source for linear drive such as an air cylinder or a solenoid actuator.
7. Discharge is performed by driving the plurality of drive sources at the same time.
8. Further, it has a detection unit for detecting a failure of the plurality of drive sources.
9. Further having a control unit for controlling the plurality of drive sources,
The control unit drives a part of the plurality of drive sources, and when a failure of the drive source during driving is detected, drives the other drive sources.
10. When a failure is detected by the detection unit, it has a means for notifying the failure by sound.
11. When a failure is detected by the detection unit, it has a means for notifying the failure by light.
12. When a failure is detected by the detection unit, it has a switching means for switching the drive source. 13. The switching means is at least one of a solenoid valve and an electromagnetic clutch.

As described above, according to the present invention, by adopting a redundant structure for the drive unit, it is possible to provide a highly reliable discharge device that operates reliably even if a part of the drive unit fails.

1A and 1B are overall configuration views showing a flying object equipped with the ejection device according to the first embodiment of the present invention as a perspective view, FIG. 1B is a sectional view of the ejection device, and FIG. 1C is C- It is a C line sectional view. 2A and 2B show a discharge state, in which FIG. 2A is a cross-sectional view of a discharge device when two rotary motors are normal, FIG. 2B is a sectional view taken along line BB of FIG. A cross-sectional view of the discharge device when one of the rotary motors fails, (D) is a cross-sectional view taken along the line DD of (C). FIG. 3 is a diagram showing an example of the valve mechanism of the aerosol container. FIG. 4A is an explanatory diagram showing an example of remote control of a control terminal and a discharge operation terminal of an air vehicle equipped with a discharge device, and FIG. 4B is a control block diagram. 5 (A) is a cross-sectional view and a control block diagram of the discharge device according to the second embodiment of the present invention, (B) is an explanatory view when two rotary motors are normal, and (C) is one rotation. It is explanatory drawing when a motor breaks down. 6 (A) and 6 (B) are diagrams showing an example of the notification unit of FIG. 7A and 7B show a discharge device according to the third embodiment of the present invention, in which FIG. 7A is a cross-sectional view seen from a direction orthogonal to the main rotation axis, and FIG. 7B is a cross-sectional view seen from a direction parallel to the main rotation axis. is there. FIG. 8 shows a discharge device according to the fourth embodiment of the present invention, (A) is a cross-sectional view seen from a direction orthogonal to the main rotation axis, and (B) is a cross-sectional view seen from a direction parallel to the main rotation axis. is there. 9A and 9B show a discharge device according to the fifth embodiment of the present invention, in which FIG. 9A is a cross-sectional view seen from a direction orthogonal to the main rotation axis, and FIG. 9B is a cross-sectional view seen from a direction parallel to the main rotation axis. is there. 10A and 10B show a discharge device according to a sixth embodiment of the present invention, where FIG. 10A is a cross-sectional view of the discharger, FIG. 10B is an explanatory view showing an example of a one-way clutch of FIG. ) Is an explanatory diagram when both rotary motors are normal, and (D) is an explanatory diagram when one motor fails and stops. FIG. 11 is a cross-sectional view of the discharge device according to the seventh embodiment of the present invention. 12A and 12B show a discharge device according to the eighth embodiment of the present invention, where FIG. 12A is a cross-sectional view of the discharger and FIG. 12B is an enlarged view of a differential gear device. FIG. 13 shows a discharge device according to the ninth embodiment of the present invention. FIG. 13 (A) shows a normal state of the rotary motor in use, and FIG. 13 (B) shows electromagnetic waves due to a failure of the rotary motor in use. An explanatory diagram when switching the clutch, (C) is a control block diagram of the switching control. 14A and 14B show a discharge device according to a tenth embodiment of the present invention, (A) is a cross-sectional view and a control block diagram, (B) is an explanatory view when two rotary motors are normal, and (C). Is an explanatory diagram when one rotary motor fails. FIG. 15 is a diagram showing a configuration example of a discharge device in which a rotary motor, a cam mechanism, and a linear actuator are arranged in parallel. FIG. 16 is a diagram showing a configuration example in which the discharge device of the present invention is used as a stationary discharge device.

Hereinafter, the present invention will be described in detail based on the illustrated embodiments.
The dimensions, materials, shapes, etc. of the components described in the following embodiments should be appropriately changed depending on the configuration of the apparatus to which the invention is applied and various conditions, and the scope of the present invention is defined. It is not intended to be limited to the following embodiments.
[Embodiment 1]
First, the overall configuration will be described with reference to FIGS. 1 (A) to 1 (C). FIG. 1 conceptually shows an air vehicle equipped with a discharge device according to the first embodiment of the present invention, and FIG. 1 (A) is a perspective view of the entire air vehicle equipped with the discharge device, FIG. 1 (B). Is a cross-sectional view of a discharge device mounted on an air vehicle, and FIG. 1 (C) is a view of (B) viewed from the C direction.
[Embodiment 1]
First, the overall configuration will be described with reference to FIG. 1A and 1B are overall configuration views showing a flying object equipped with the ejection device according to the first embodiment of the present invention as a perspective view, FIG. 1B is a sectional view of the ejection device, and FIG. 1C is C- It is a C line sectional view.
In FIG. 1 (A), 100 represents an air vehicle. The airframe 100 is an unmanned aerial vehicle such as a so-called multicopter, and the airframe 101 includes a fuselage body 102, four arms 103 radially extending from the fuselage body 102, and legs 107 for takeoff and landing. At the tip of the arm 103, four rotary blades 104 are provided via a motor 105, respectively. In the illustrated example, the rotary blade 104 illustrates four quadcopters, but various known multicopters such as three (tricopters) and six (hexacopters) can be applied.
An aerosol container assembly 40 in which an aerosol container is incorporated in a sleeve 20 is mounted on the outer surface of the airframe 101 of the airframe 100, in the illustrated example, on the lower surface of the airframe body 102 via a support portion 50. A nozzle 15 is connected to the stem of the aerosol container inside the aerosol container assembly 40 via a tube 16, and the contents are discharged from the nozzle 15. In the case of a flying object, the aerosol container assembly 40 provided with the aerosol container 10, the tube 16 and the nozzle 15 are included in the ejection device 1 of the flying object, but the tube 16 and the nozzle 15 are not always essential. ..
In the illustrated example, the aerosol container assembly 40 is mounted on the lower surface of the fuselage body 102, but it may be mounted on the rear surface of the fuselage body 102, on the upper surface, or on the front surface. It may be installed.

Next, the configuration of the discharge device 1 of FIG. 1 will be described in more detail with reference to FIGS. 1 (B) and 1 (C).
The aerosol container 10 is mounted on the machine body 101 as an aerosol container assembly 40, and discharges the contents of the aerosol container 10 from above the machine body 101. The discharged contents include not only liquids but also gases such as gas and air, powders and the like, and cases where sounds (horns) and the like are discharged. The sound discharge is configured so that, for example, a sound is produced when a gas is ejected.
The aerosol container assembly 40 includes an aerosol container 10, a sleeve (accommodating member) 20 for accommodating the aerosol container 10, and a discharge drive unit 30 arranged in the sleeve 20 for discharging the contents from the aerosol container 10. I have.

[About aerosol container]
The aerosol container 10 is a container that ejects the contents by the gas pressure of the liquefied gas or the compressed gas filled inside, and the existing metal aerosol container can be applied, and the aerosol container 10 is made of pressure-resistant plastic. A container can also be used. In the aerosol container 10, various actuators having flow paths formed according to the discharge direction and the discharge form are mounted on the stem 12. In the illustrated example, an example in which the actuator 14 having the flange portion 14b is attached to the stem 12 of the aerosol container 10 is shown. The actuator 14 has a configuration including a linear main body portion 14a provided with a straight discharge flow path and a flange portion 14b projecting from the main body portion 14a in a direction perpendicular to the axis. The tube 16 is connected to the main body 14a of the actuator 14.
In the first embodiment, since the aerosol container 10 is mounted on the lower surface of the fuselage body 102 and used, as the form of the propellant and the contents to be sealed, the undiluted solution is contained in the inner bag, and the outer circumference of the inner bag and the container. An isolated type in which the propellant is housed between the body circumference and the body circumference is used. If it is an isolated type, it can be discharged even if the posture of the aerosol container is sideways (stem position is sideways) or downward (stem position is down).
However, when it is not mounted in a horizontal state as in the first embodiment, it is not limited to the isolated type, and when the attitude of the aerosol container 10 at the time of discharge is used with the stem 12 facing upward, it is not limited to the isolated type. Two-phase and three-phase containers with a dip tube, and two-phase and three-phase containers without a dip tube can be applied when the stem is used facing down.
Examples of the propellant include general hydrocarbons (liquefied petroleum gas) (LPG), dimethyl ether (DME), fluorinated hydrocarbons such as fluorinated hydrocarbons (HFO-1234ZE), carbon dioxide (CO2), and nitrogen (N _2). ), although compressed gas nitrous oxide (N 2 _O), etc. are applicable, the safety of the consideration of non-flammable fluorinated hydrocarbons against fire, a suitable carbon dioxide, nitrogen, nitrous oxide and the like In particular, nitrogen is preferable in consideration of the environmental load.

[Structure of sleeve 20]
The material of the sleeve 20 is made of a metal such as aluminum, plastic, or a lightweight material having high strength such as carbon fiber. Further, not only a hard material but also a soft material, for example, a rubber material such as silicone rubber or urethane foam can be used, that is, various materials capable of maintaining the shape of the accommodating portion accommodating the aerosol container 10. Can be used. The term "sleeve" is used to mean a tubular member that houses a cylindrical aerosol container 10.
The sleeve 20 includes a cylindrical sleeve body 21 having a diameter larger than that of the aerosol container 10, a first end cover 22 that covers one end of the sleeve body 21, and a second end cover provided at the other end. It is composed of a part 23.
The first end cover portion 22 is detachably screwed and fixed to the sleeve body 21 via a screw portion, and the second end cover portion 23 is non-removably fixed to the sleeve body 21. .. The second end cover portion 23 and the sleeve body 21 may be integrated.
The first end cover portion 22 is configured to include a dome-shaped cover main body 222 and a screw cylinder portion 223 screwed into the female screw portion of the sleeve main body 21. The cover body 222 has a conical or dome-shaped curved surface with a rounded tip, the diameter of which is gradually reduced toward the tip in consideration of aerodynamic characteristics. By forming the shape with good aerodynamic characteristics in this way, the influence of the horizontal wind (crosswind) is reduced, and the flight can be stabilized.
The second end cover portion 23 located on the bottom side of the aerosol container 10 has a tubular portion 231 whose one end is fixed to the rear end portion of the sleeve body 21 (the end on the bottom side of the aerosol container 10) and a tubular portion. It is configured to include an end plate 232 that closes the other end of the portion 231. The discharge drive unit 30 is housed in the second end cover unit 23.

[Support structure of aerosol container 10]
The inner diameter of the sleeve 20 is larger than the outer diameter of the body portion 11a of the aerosol container 10, and the aerosol container 10 is supported at a certain distance from the wall surface of the sleeve 20. The body 11a of the aerosol container 10 may be supported without being separated from the inner wall of the sleeve 20, but by separating the body 11a of the aerosol container 10 from the inner wall of the sleeve 20, a heat insulating material or heat storage is provided in the separated space. The material can be interspersed. In the illustrated example, a plurality of radial support portions 21a extending inward in the radial direction are provided on the inner circumference of the sleeve 20 in the axial direction. A plurality of the radial support portions 21a may be provided in the circumferential direction or may be partially supported, or may be continuously formed in an annular shape to support the entire circumference.
The sleeve 20 may have a structure in which a part of the sleeve 20 is ventilated instead of a closed structure. For example, a structure such as a mesh structure or punching can be applied. By doing so, there are effects such as alleviating the self-cooling at the time of discharging the aerosol with the outside air and reducing the weight of the sleeve 20.
On the other hand, the bottom portion 11b of the aerosol container 10 is supported by the container holding portion 72, and the head side of the aerosol container 10 is supported by the pressing member 221 provided on the first end cover portion 22.
The pressing member 221 is provided at one end of a tubular body 221a and a first end cover that protrudes from the top of the first end cover portion 22 toward the stem 12 in the central axis direction of the aerosol container 10. It is provided with an end flange portion 221b fixed to the portion 22. A tube 16 connecting the actuator 14 and the nozzle 15 is slidably inserted into the inner circumference of the tubular body 221a of the pressing member 221, and the tip surface of the tubular body 221a is the flange portion 14b of the actuator 14. Is in contact with or in close proximity to. The pressing member 221 may be integrally molded with the second end cover portion 23.

[Structure of discharge drive unit 30]
Next, the discharge drive unit 30 will be described.
The discharge drive unit 30 has a drive mechanism for driving the actuator 14 of the aerosol container, and a plurality of rotary drive sources for driving the drive mechanism, in this example, two rotary motors 31A and 31B. The drive mechanism is one or more of the plurality of rotary motors 31A and 31B.
In this embodiment, the aerosol container 10 is discharged by the driving force of the two rotary motors 31A and 31B.
The drive mechanism has two independent cam mechanisms 32A and 32B and a container holding that can move in the axial direction as a motion conversion mechanism that converts the rotary motion of the two rotary motors 31 into a linear motion of the actuator, respectively. It is composed of a part 72. The rotary motors 31A and 31B are fixed to a frame (not shown) fixed to the second end cover portion 23. The cam mechanisms 32A and 32B each include a cam 32a that is rotationally driven by the rotary motors 31A and 31B and a cam follower 32c that moves along the cam surface of the cam 32a, and the cam follower 32c is provided on the container holding portion 72. There is. The cam 32a in the illustrated example is an oval disc cam, the cam shaft of the cam 32a is orthogonal to the central axis of the aerosol container 10, and the rotation of the cam 32a is caused by the cam follower 32c of the container holding portion 72. Converted to linear motion. Since the cam 32a is a disc cam, an urging means such as a spring for constantly bringing the cam follower 32c into contact with the cam 32a is appropriately provided.
The container holding portion 72 is an annular convex portion that holds a disc portion 72a that abuts on the bottom portion 11b of the aerosol container 10 and an end portion on the bottom side of the body portion 11a of the aerosol container 10 from the outer diameter end portion of the disc portion 72a. The cam follower 32c is rotatably supported by a support shaft 72d that includes a 72b and a connecting shaft portion 72c provided at the center of the surface of the disc portion 72a on the motor side and extends in a direction orthogonal to the end portion of the connecting shaft portion 72c. ing.

Normally, the minimum diameter portion of the cam 32a is in contact with the cam follower 32c, the container holding portion 72 is in the retracted limit position, and the valve mechanism of the aerosol container 10 is held in a closed state. By rotating the cam 32a by the rotation motor 31, the container holding portion 72 advances in the axial direction. That is, the contact position of the cam 32a with which the cam follower 32c abuts at the retractable limit position of the container holding portion 72 has a small diameter from the center of rotation, and the contact position of the cam 32a with which the cam follower 32c abuts at the forward limit position is the center of rotation. The diameter is set large. In the illustrated example, the valve is opened not at the maximum diameter portion of the cam 32a but at the transition portion from the minimum diameter portion to the maximum diameter portion, but the valve may be opened at the maximum diameter portion.
The advance of the container holding portion 72 causes the aerosol container 10 to move toward the head side in the axial direction, and the movement of the aerosol container 10 causes the actuator 14 to be pressed against the tubular body 221a of the pressing member 221. Since the pressing member 221 is fixed to the first end cover portion 22 of the sleeve 20, the stem 12 is pushed into the aerosol container 10 by the reaction force from the tubular body 221a, and the valve mechanism in the aerosol container 10 is moved. The valve is opened. When the valve mechanism opens, the contents are automatically discharged by the gas pressure.
[Operation of discharge drive unit 30]
Next, the operation of the discharge drive unit 30 will be described with reference to FIG. FIG. 2 (A) is a cross-sectional view of a discharge device when two rotary motors are normal, FIG. 2 (B) is a sectional view taken along line BB of (A), and FIG. A cross-sectional view of the device, (D) is a cross-sectional view taken along the line DD of (C).
Under normal conditions, the two rotary motors 31A and 31B are both rotationally driven in synchronization with each other as shown in FIGS. 2A and 2B, and are driven by the two cam mechanisms 32A and 32B via the container holding portion 72. The aerosol container 10 is pushed up toward the head side, the stem of the aerosol container 10 is pushed in, the valve mechanism inside the container is opened, and the contents are discharged.
When one of the rotary motors 31B fails and the rotation is stopped, as shown in FIGS. 2 (C) and 2 (D), one cam mechanism 32B does not operate (x mark in the figure) and the other. The other cam mechanism 32A is rotationally driven only by the driving force of the rotary motor 31A, the aerosol container 10 is pushed up toward the head side, and the stem of the aerosol container 10 is pushed in to open the valve mechanism.

[Valve mechanism configuration]
FIG. 3 shows an example of the valve mechanism 13 of the aerosol container 10 opened by the discharge drive unit 30.
That is, the stem 12 is provided with a discharge flow path 12a extending by a predetermined dimension in the axial direction from the tip opening, and a stem hole 12b serving as a valve hole is opened on the side surface of the stem 12, and the stem hole 12b is a mounting cup. It is sealed by the inner peripheral surface of the gasket 13a attached to the edge of the insertion hole of 11d.
Normally, the stem 12 is urged in the protruding direction by the gas pressure and the urging force of the spring 13b, and the inner peripheral edge of the gasket 13a serving as the valve body is pressed in the axial direction so that the inner peripheral surface of the gasket 13a presses the valve seat. The valve is maintained in a closed state in close contact with the hole edge of the constituent stem holes 12b.
When the container holding portion 72 moves to the forward limit by the cam mechanism 32 of the discharge driving portion 30, the aerosol container 10 moves to the first end cover portion 22 side, and the flange portion 14b of the actuator 14 with a flange presses. It abuts on the end face of the member 221 and the reaction force pushes the stem 12 relatively toward the inside of the container. When the stem 12 is pushed in, the inner peripheral edge of the gasket 13a bends toward the inside of the container, the inner peripheral surface of the gasket 13a opens apart from the hole edge of the stem hole 12b, and the contents pushed by gas pressure. Is discharged from the discharge flow path 12a of the stem 12.
The valve mechanism 13 of the illustrated example is an example, and is not limited to such a configuration, and various configurations that normally maintain the valve closed state and open the valve by pushing the stem 12 can be applied. ..
In this example, the cam mechanism 32 converts the rotary motion of the rotary motor 31 into a linear motion, but the present invention is not limited to the cam mechanism 32. For example, a screw feed mechanism, a rack and pinion, or the like can be used. Any mechanism that converts the rotary motion of the rotary motor 31 into a linear motion can be applied. Further, instead of the rotary motor, a linear motor for linear drive or a linear drive source such as an electromagnetic solenoid may be used, and the aerosol container 10 may be moved in the axial direction without using a motion conversion mechanism.

[electrical equipment]
Next, returning to FIG. 1A, the electrical equipment for driving the discharge drive unit 30 will be described. FIG. 1A conceptually describes the electrical equipment mounted on the flying object.
A mounting device control unit 210 that controls a mounting device such as a discharge drive unit 30 or a camera (not shown) is provided separately from the flight control unit 110 that controls the flight of the flight body 100, and together with the flight control unit 110, the airframe It is provided on the 101 side. Further, the power supply 211 for the on-board device for driving the discharge drive unit 30 is provided separately from the power supply for driving the flying object 100 (assuming that it is incorporated in the flight control unit 110 and is not shown). It is mounted on the aircraft 101 side.
Further, a communication unit 212 for an on-board device including an antenna for remotely controlling the ejection device 1 and the camera is provided separately from the flight communication unit 112 including an antenna for remotely controlling the airframe 100, and is provided on the airframe 101. It is installed.
The on-board device control unit 210, the on-board device communication unit 212, and the on-board device power supply 211 may have the roles of the flight control unit 110, the flight communication unit 112, and a part or all of the flight power supply. ..

[Support structure with the aircraft]
The attachment of the aerosol container assembly 40 to the machine body 101 is not particularly shown, but for example, a slide-type fitting structure of a slide rail and a T-shaped groove, or a configuration that can be attached / detached in the rotation direction such as a bayonet coupling is also possible. Alternatively, various supporting means that facilitate removal and attachment, such as screwing, clip coupling, and clamps, can be applied.
An electrical contact that electrically connects the on-board device control unit 210 arranged on the machine body 101 side, the power supply 211 for the on-board device, and the rotary motors 31A, 31B, etc. of the discharge drive unit 30 may be provided, or the sleeve 20 to the machine body 101 may be provided. It may be directly connected to the connector arranged in the above with a cable or the like. In addition, the sleeve 20 has a power source such as a secondary battery and a wireless communication device, and an electric signal from the flight control unit 110 arranged on the aircraft 101 side is wirelessly communicated with the mounted device control unit in the sleeve 20. You may send and receive with 210.

[Spraying work]
In the spraying operation, for example, as shown in FIG. 4, the flight of the flying object 100 is remotely controlled by the control terminal 120, and the discharge device 1 is remotely controlled by the operation terminal 160. The operation terminal 160 is also used as a controller for the camera 106 mounted on the flying object 100. The operation terminal 160 is provided with, for example, a discharge button 163 and a stop button 164. When the operator presses the discharge button 163 while viewing the image on the display 167, a discharge command signal is transmitted and mounted on the flying object 100. It is received by the communication unit 212 for the on-board device. Based on the received discharge command signal, the discharge drive unit 30 is driven by the on-board device control unit 210, the stem 12 of the aerosol container 10 is pushed in, and the contents are discharged. When the stop button 164 is pressed, a stop command signal is transmitted, and the discharge drive unit 30 releases the push of the stem 12 to stop the discharge.
The switching between discharge and stop can be automatically switched according to a program stored in advance as well as the operation of the button. For example, the route is programmed in advance, the height is detected by the position on the map and the altimeter by the signal from GPS, the discharge is started when the predetermined position is reached, and the discharge is completed when the discharge in the predetermined area is completed. Can also be stopped.
In the first embodiment, there are two sets of rotary motors 31A and 31B and cam mechanisms 32A and 32B of the discharge drive unit 30, and even if one rotary motor fails, the discharge drive unit 30 is provided by the other rotary motor and cam mechanism 32. Is activated and the contents can be sprayed normally, so that the work is not hindered and the reliability can be improved.

Next, another embodiment of the discharge device of the present invention will be described. In the following description, only the parts different from the above-described embodiment will be described, and the same components will be designated by the same reference numerals and the description will be omitted.
[Embodiment 2]
FIG. 5 shows a discharge device according to the second embodiment of the present invention. 5 (A) is a cross-sectional view and a control block diagram of the discharge device according to the second embodiment of the present invention, (B) is an explanatory view when two rotary motors are normal, and (C) is one rotation. It is explanatory drawing when a motor breaks down.
In the second embodiment, the end portion kana-the mounting device control unit 210 of the discharge drive unit 30 of the first embodiment has a detection unit 2101 for detecting a failure of two rotary motors 31A and 31B, and a detection unit 21.
The notification unit 2102 is provided as a means for notifying the failure when the failure is detected by the 01.
That is, the rotary motors 31A and 31B are driven via the motor drivers 2102A and 2102B by the control signal from the on-board device control unit 210 shown in FIG. 5A, and the rotary motors 31A and 31B rotate. Information such as position and current can be obtained from the on-board device control unit 21.
It is configured to be fed back to 0. In this example, as shown in FIG. 5B, the rotary motors 31A and 31B are provided with current circuit breakers 2103A and 2103B such as fuses.
To detect a failure, the power consumption is calculated from the motor current fed back to the on-board device control unit 210, and if it deviates from the predetermined normal range, it is determined to be a failure, and if a failure is detected, a notification signal is issued to the notification unit. It has become.
That is, when the rotary motors are normal, the power consumption of the two rotary motors 31A and 31B is the same as shown in FIG. 5 (A).
If any of the rotary motors 31A and 31B fails, for example, as shown in FIG. 5B, if the rotary motor 31A fails and the rotary motor 31B is normal, or if there is a power loss due to disconnection or the like, The power consumption on the rotary motor 31A side becomes zero and deviates from the normal range, and the rotary motor 31B also increases the power consumption for the work of the rotary motor 31A and deviates from the normal range. On the other hand, if an abnormal current flows even before the failure, the power consumption of the rotary motor 31A becomes an abnormal value and deviates from the normal range. Further, if a short circuit occurs and the circuit is cut off by a current circuit breaker 2103A such as a fuse, the power consumption becomes zero, which is out of the normal range.

FIG. 6 shows an example of the notification unit 2102.
FIG. 6A shows a warning symbol such as an LED on the side surface of the second end cover portion 23 of the sleeve 20 in which the rotary motors 31A and 31B are housed, as a means for notifying the failure by light. This is an example provided together with 25.
In FIG. 6B, a speaker 26 is provided on the side surface of the second end cover portion 23 of the sleeve 20 in which the rotary motors 31A and 31B are housed together with the warning symbol 25 as a means for notifying the failure by sound. This is an example.
The warning symbol 25 may be omitted.

[Embodiment 3]
7A and 7B show a discharge device according to the third embodiment of the present invention, in which FIG. 7A is a cross-sectional view seen from a direction orthogonal to the main rotation axis, and FIG. 7B is a cross-sectional view seen from a direction parallel to the main rotation axis. is there.
In this embodiment, the plurality of rotary motors 31A and 31B have their respective rotary motions merged.
A main rotation shaft 33 on the drive side to be rotated is provided, and the main rotation shaft 33 is connected to the cam mechanism 32. In this example, two rotary motors 31A and 31B are configured to rotationally drive one cam mechanism 32. In this case, the rotary motors 31A and 31B do not have a self-holding function, and the drive shaft is assumed to rotate freely in the event of a power failure or failure.
In the normal state, the two rotary motors 31A and 31B are both rotationally driven in synchronization with each other as shown in FIG. 7A, and the aerosol container 10 is headed by one cam mechanism 32 via the container holding portion 72. The valve mechanism of the aerosol container 10 is opened by pushing it up to the side.
When one of the motors 31 fails, the failed motor 31 and the main rotating shaft 33 run idle, the main rotating shaft 33 is rotationally driven only by the normal motor 31, the cam mechanism 32 is operated, and the aerosol container 10 Is pushed up toward the head side to open the valve mechanism.

[Embodiment 4]
FIG. 8 shows a discharge device according to the fourth embodiment of the present invention, (A) is a cross-sectional view seen from a direction orthogonal to the main rotation axis, and (B) is a cross-sectional view seen from a direction parallel to the main rotation axis. is there.
In the fourth embodiment, the drive mechanism of the discharge drive unit 430 uses a feed screw mechanism 35 instead of a cam mechanism as a motion conversion mechanism that converts the rotary motion of the rotary motor 31 into a linear motion. Different from 3.
The feed screw mechanism 35 includes a screw shaft 351 fixed to the container holding portion 72 and a rotating member 352 that meshes with the screw shaft 351. The screw shaft 351 extends along an extension line of the central axis of the aerosol container 10 and one end thereof is fixed to the container holding portion 72. The rotating member 352 is fixed in the axial direction and movable in the rotational direction. A female screw (not shown) in which the screw of the screw shaft 351 meshes is provided on the inner circumference, and an external gear is provided on the outer circumference. The constituent teeth are provided.
The two rotary motors 351A and 351B are arranged so that the motor shaft 311 is parallel to the screw shaft 351 and the gears 353A and 353B that mesh with the outer teeth of the outer periphery of the rotary member 352 are fixed to the motor shafts 311A and 311B. .. The two rotary motors 351A and 351B rotate in the same rotational direction in synchronization with each other to rotationally drive one rotary member 352. This rotating member 352 serves as the main rotating member.
Due to the rotation of the rotating member 352, the screw shaft 351 held immovably in the rotation direction moves in the axial direction, and the aerosol container 10 is moved toward the head side via the container holding portion 72, and the stem 12 Is pushed into the container to open the valve and discharged, and by rotating the rotating member 352 in the reverse direction, the aerosol container 10 can be moved to the bottom side to release the pushing of the stem 12 and close the valve.
When the two rotary motors 31A and 31B are normal, both of them are rotationally driven in synchronization with each other, and one feed screw mechanism 35 pushes up the aerosol container 10 toward the head side via the container holding portion 72.
When one of the rotary motors fails, for example, when the rotary motor 351A fails, the failed rotary motor 351A and the motor shaft 311A run idle, and the three rotary members 352, which are the main rotary members, are rotationally driven only by the normal rotary motor 351B. Then, the feed screw mechanism 35 is operated, and the aerosol container 10 is pushed up toward the head side to open the valve mechanism.

[Embodiment 5]
9A and 9B show a discharge device according to the fifth embodiment of the present invention, in which FIG. 9A is a cross-sectional view seen from a direction orthogonal to the main rotation axis, and FIG. 9B is a cross-sectional view seen from a direction parallel to the main rotation axis. is there.
In the fifth embodiment, similarly to the third embodiment, the main rotary shaft 33 of the cam mechanism 32 is rotationally driven by a plurality of rotary motors 31, but unlike the third embodiment, the main rotary shaft 33 is rotated with respect to the main rotary shaft 33. The difference is that a total of four rotary motors 31A1, 31A2; 31B1 and 31B2 are provided, two on each side.
That is, intermediate gears 313A and 313B are attached to both ends of the main rotary shaft 33, and two rotary motors 31A1, 31A2; 31 on each of the left and right sides are attached to the intermediate gears 313A and 313B.
The gears 312A1, 312A2; 312B1, 312B2 provided on the motor shafts 311A1, 311A2; 311B1, 311B2 of B1, 31B2 are in mesh with each other. Also in this case, similarly to the third embodiment, the rotary motors 31A1, 31A2; 31B1, 31B2 do not have a self-holding function, and the drive shaft is assumed to rotate freely in the event of a power failure or failure.
Under normal conditions, all four rotary motors 31A1, 31A2; 31B1, 31B2 are synchronously driven to rotate, one cam mechanism 32 is operated, and the aerosol container 10 is pushed up toward the head side via the container holding portion 72. , The valve mechanism of the aerosol container 10 is opened.
Of the four rotary motors 31A1, 31A2; 31B1, 31B2, for example, when the rotary motor 31A1 fails, the motor shaft 311A1 of the failed rotary motor 31A1 runs idle, and only the remaining three normal rotary motors 31 The main rotary shaft 33 is rotationally driven to operate one cam mechanism 32, and the aerosol container 10 is pushed up toward the head side to open the valve mechanism. In this case, the discharge operation can be executed until the three rotary motors 31 fail.

[Embodiment 6]
FIG. 10 shows a discharge device according to a sixth embodiment of the present invention. (A) is a cross-sectional view of the discharge device, (B) is an explanatory view showing an example of the one-way clutch of (A), (C) is an explanatory view when both rotary motors are normal, and (D) is one. It is explanatory drawing of the state which the rotary motor of (1) failed and stopped.
Similar to the third embodiment, the sixth embodiment also has a configuration in which one cam mechanism 32 is driven by two rotary motors 31A and 31B, but in the sixth embodiment, the rotary motors 31A and 3
This is an embodiment applied when the motor shafts 311A and 311B of 1B are self-held and do not rotate in the event of a failure.
That is, the motor shafts 311A and 311B of the two rotary motors 31A and 31B are connected to the main rotary shaft 33 via the one-way clutches 60A and 60B.
FIG. 10B shows an example of known one-way clutches 60A and 60B. The one-way clutch includes a drive-side member 61 and a driven-side member 62, and one-way rotation of the drive-side member 61, for example, rotation in the counterclockwise direction shown by the solid line arrow in the drawing is performed on the driven-side member 62. Although it is transmitted, the rotation of the drive-side member 61 in the opposite direction, that is, the rotation in the clockwise direction indicated by the broken arrow in the figure is not transmitted to the driven-side member 62.
In the illustrated example, the internal teeth 61a provided on the inner circumference of the drive-side member 61 are tilted, and the claws 62a that engage with the internal teeth 61a are swingably provided on the driven-side member 62, and the claws 62a are internally provided by the spring member 62b. The structure is urged to press against the teeth 61a, and the claw 62a is caught by the internal teeth 61a in one direction to transmit the driving force, and the claws 62a do not mesh with the internal teeth 61a in the opposite direction and rotate idle. .. The configuration of this one-way clutch is an example, and the configuration is not limited to such a configuration, and various known one-way clutches can be applied.
The direction in which the rotation of the one-way clutches 60A and 60B is transmitted is set by the rotary motors 31A and 31B according to the rotation direction in the discharge operation of the cam 32a. For example, as shown in FIG. 10 (D), if the counterclockwise direction is the rotation direction of the discharge operation of the cam 32a, the direction in which the torques of the one-way clutches 60A and 60B are transmitted is the rotation motor 31A. , 31B is set in the counterclockwise rotation direction.
In the normal state, the two rotary motors 31A and 31B are both synchronously rotationally driven, and the cam 32a is rotationally driven via the one-way clutches 60A and 60B, as shown in FIG. 10 (A).
The aerosol container 10 is pushed up toward the head side via the container holding portion 72, and the valve mechanism of the aerosol container 10 is opened.
On the other hand, of the two rotary motors 31A and 31B, for example, when one of the rotary motors 31A fails, when the motor shaft 311A of the failed rotary motor 31A stops, the motor shaft 311A of the stopped rotary motor 31A becomes On the other hand, since the main rotation shaft 33 is rotated by the normally rotating rotation motor 31B, the driven side member of the one-way clutch 60A rotates in synchronization with the rotation direction of the main rotation shaft 33. However, in relation to the drive-side member, the one-way clutch 60A rotates in a direction in which it does not mesh with each other and runs idle. Therefore, the main rotary shaft is rotationally driven only by the normal rotary motor 31, the cam mechanism 32 is operated, and the aerosol container 10 is pushed up toward the head side to open the valve mechanism.
When the discharge operation is completed, the two rotary motors 31A and 31B are rotated as they are. Then, the angle of the cam 32a returns to the initial angle, and the container holding portion 72 retracts due to an urging force such as a spring that returns the container supporting portion toward the bottom. Then, the valve mechanism of the aerosol container 10 is closed.

[Embodiment 7]
FIG. 11 is a cross-sectional view of the discharge device according to the seventh embodiment of the present invention.
Similar to the fifth embodiment, the seventh embodiment also has a configuration in which one cam mechanism 32 is driven by four rotary motors 31A1, 31A2; 31B1, 31B2, but in the seventh embodiment, the rotary motors 31A1, 31A2; This is an embodiment applied when the motor shafts 311A1, 311A2; 311B1, 311B2 of 31B1 and 31B2 are self-held and do not rotate in the event of a failure.
That is, the four rotary motors 31A1, 31A2; 31B1, 31B2 are connected to the gears 312A1, 312A2; 312B1, 312B2 via the one-way clutches 60A1, 60A2; 60B1, 60B2.
The four rotary motors 31A1, 31A2; 31B1, 31B2 are normally shown in FIG.
As shown in A), all are synchronously rotationally driven, the cam 32a is rotationally driven via the one-way clutches 60A1, 60A2; 60B1, 60B2, and the aerosol container 10 is driven to the head side via the container holding portion 72. To open the valve mechanism of the aerosol container 10.
If one rotary motor 31B2 fails, the motor shaft 311B2 of the failed rotary motor 31B2 stops, and the driven side member of the one-way clutch 60B2 rotates in synchronization with the rotation direction of the main rotary shaft 33, but drives. In relation to the side members, they do not mesh with each other and run idle. Therefore, the main rotary shaft 33 is rotationally driven only by the normal rotary motors 31A1, 31A2; 31B1, the cam mechanism 32 is operated, and the aerosol container 10 is pushed up toward the head side to open the valve mechanism.

[Embodiment 8]
FIG. 12 shows a discharge device according to the eighth embodiment of the present invention. (A) is a cross-sectional view of a discharge device, and (B) is an enlarged view of a differential gear device.
Similar to the third embodiment, the eighth embodiment also has a configuration in which one cam mechanism 32 is driven by two rotary motors 31A and 31B, but in the eighth embodiment, the rotary motors 31A and 3
This is an embodiment applied when the motor shafts 311A and 311B of 1B are self-held and do not rotate in the event of a failure.
In the case of the eighth embodiment, the two rotary motors 31A and 31B are configured to rotate the main rotary shaft 33 via the differential gear mechanism 80.
The differential gear mechanism 80 includes a case 83 in which the side gears 81A and 81B connected to the motor shafts 311A and 311B of the rotary motors 31A and 31B, the pinion gear 82 meshing with the side gears 81A and 81B, and the shaft of the pinion gear 82 are fixed. The ring gear 84 fixed to the case 83 and the output side pinion 85 that mesh with the ring gear 84 are provided, and the output side pinion 85 is fixed to the main rotation shaft 33 to which the cam 32a is fixed.
In the case of the present embodiment, when the two rotary motors 31A and 31B are normal, there is no rotational difference between the two rotary motors 31A and 31B, and the case 83 rotates via the pinion gear 82 that meshes with the side gears 81A and 81B. The ring gear 84 fixed to the case 83 rotates, the output side pinion 85 that meshes with the ring gear 84 rotates, and the cam 32a is rotationally driven via the main rotation shaft 33. The rotation of the cam 32a pushes the aerosol container 10 toward the head side via the container holding portion 72 to open the valve mechanism of the aerosol container 10.
If one rotary motor 31A fails and the motor shaft 311A of the failed rotary motor 31A stops, the rotation speed of one side gear 81A becomes zero, and only the side gear 81B on the normal rotary motor 31 side rotates. The pinion gear 82 revolves around the stopped side gear 81A to rotate the case 83, the ring gear 84 fixed to the case 83 rotates, and the output side pinion 85 that meshes with the ring gear 84 rotates. The cam 32a is rotationally driven via the main rotation shaft 33.
Therefore, while the abnormal rotary motor 31A remains stopped, the main rotary shaft 33 is rotationally driven only by the normal rotary motor 31B, the cam mechanism 32 is operated, and the aerosol container 10 is pushed up toward the head side to open the valve mechanism. I can speak.
Further, when the differential gear mechanism 80 is used, even if the rotary motors 31A and 31B are normal, the rotational difference can be absorbed when the rotational speeds of the rotary motors 31A and 31B are different. It also has an effect.

[Embodiment 9]
FIG. 13 shows a discharge device according to the ninth embodiment of the present invention. FIG. 13 (A) shows a normal state of the rotary motor in use, and FIG. 13 (B) shows electromagnetic waves due to a failure of the rotary motor in use. An explanatory diagram when switching the clutch, (C) is a control block diagram of the switching control.
Similar to the fifth embodiment, the ninth embodiment also has a configuration in which one cam mechanism 32 is driven by four rotary motors 31A1, 31A2; 31B1, 31B2, but in the ninth embodiment, the four rotary motors 31A1, 31A2; 31B1, 31B2 are electromagnetic clutches 90A
The difference is that they are connected to the gears 312A1, 312A2; 312B1, 312B2 via 1,90A2; 90B1, 90B2. Electromagnetic clutch 90A1, 90A2; 90B
The 1,90B2 has a configuration in which the transmission of power between the driving side member and the driven side member is switched by using an electromagnetic force. For example, the friction plate may be attracted by the electromagnetic force, or the power may be driven by the electromagnetic induction action. It may be in a form of transmitting electromagnetic clutches, and various known types of electromagnetic clutches can be applied.
As for the control configuration, as in FIG. 5, each rotary motor 31A1, 31A2; 31B1, 31B2 is controlled by the on-board device control unit 210, and in this embodiment, one electromagnetic clutch 90B2 is turned on and the other electromagnetic clutch 90A1 is turned on. , 90A2; 90B1 is turned off, and the cam 32a is driven by one rotary motor 31B2. Which rotary motor 31B2 to use is arbitrarily set in advance.
The on-board device control unit 210 includes a plurality of rotary motors 31A1, 31A2; 31B1,3.
When the detection unit 2101 capable of detecting the failure of 1B2 and the detection unit 2101 detects the failure of the rotary motor 31B2 in use, the electromagnetic clutch as a switching means for turning on the other electromagnetic clutch 90B1 and switching to the other rotary motor. It is provided with a switching unit 2104.
In the normal state, as shown in FIG. 13A, only the electromagnetic clutch 90B2 corresponding to one rotary motor 31B2 is connected, and the other electromagnetic clutches 90A1, 90A2, 90B1 are disconnected. The other rotary motors 31A1, 31A2; 31B1 may not be rotationally driven or may be rotationally driven.
The electromagnetic clutch 90B2 in this connected state rotationally drives the cam 32a by the driving force of one rotary motor 31B2, pushes the aerosol container 10 toward the head side via the container holding portion 72, and the valve mechanism of the aerosol container 10. To open the valve.
When the rotating motor 31B2 in use fails, as shown in FIG. 13C, the failure is detected by the detection unit 2101, so the currently connected electromagnetic clutch 90B2 is disconnected and another non-failed electromagnetic clutch 90B2 is disconnected. The electromagnetic clutch 90B1 corresponding to the rotary motor is connected, and the normal rotary motor 31B1 is rotationally driven. The main rotating shaft 33 is rotationally driven by the switched normal rotary motor 31B1 to operate the cam mechanism 32.

FIG. 14 shows a discharge device according to the tenth embodiment of the present invention, (A) is a cross-sectional view and a control block diagram of the discharge device according to the tenth embodiment of the present invention, and (B) is two rotations. An explanatory diagram when the motor is normal, and FIG. 3C is an explanatory diagram when one rotary motor fails.
This embodiment 10 is an example in which, unlike the first to ninth embodiments, the drive source is two linear actuators 37A and 37B as a drive source for linear drive. That is, the actuator bodies 37A1 and 37B1 of the linear actuators 37A and 37B are fixed, and one end of the movable members 37A2 and 37B2 that move in the axial direction with respect to the actuator bodies 37A1 and 37B1 is a container holding portion 72 that holds the aerosol container 10. It is fixed to. The moving directions of the movable members 37A2 and 37B2 are parallel to the central axis of the aerosol container 10.
As the linear actuators 37A and 37B, an air cylinder and a solenoid actuator can be used.
The actuator drivers 37A4, 37B4 of the linear actuators 37A, 37B control the solenoid valve provided in the pneumatic circuit of the air cylinder in the case of an air cylinder, and control the solenoid coil of the solenoid in the case of a solenoid actuator. To.
When the two linear actuators 37A are normal, the movable members 37A2 and 37B2 are driven in a linear direction in synchronization with each other, and the aerosol container 10 is pushed up toward the head side via the container holding portion 72 to open the valve mechanism. To do.
When one of the linear actuators 37A fails, the failed linear actuator 37A does not drive, but the failed linear actuator 37A expands in accordance with the extension of the movable member 37B2 of the normal linear actuator 37B, and the failed linear actuator 37A expands to be normal linear. The driving force of the actuator 37B pushes up the aerosol container 10 toward the head side to open the valve mechanism.

Further, similarly to FIG. 5 of the second embodiment, the on-board device control unit 210 is notified of the failure when the detection unit 2101 for detecting the failure of the plurality of linear actuators 37A and 37B and the detection unit 2101 detects the failure. The notification unit 2102 is provided.
That is, as shown in FIG. 14, the linear actuators 37A and 37B are driven by the control signal from the on-board device control unit 210 via the actuator drivers 37A4 and 37B4, and the linear actuators 37A and 37B are movable. Information such as the positions of the members 37A2 and 37B3 and the current is fed back to the on-board device control unit 210. In this example, as shown in FIG. 14B, the linear actuators 37A and 37B are provided with current breakers 2103A and 2103B such as fuses.
To detect a failure, the power consumption is calculated from the current value fed back to the on-board device control unit 210, and if it deviates from the predetermined normal range, it is determined to be a failure, and if a failure is detected, a notification signal is sent to the notification unit. It has become.
That is, when the linear actuators 37A and 37B are normal, the power consumption of the linear actuators 37A and 37B is the same. If any of the linear actuators 37A and 37B fails, and if there is a power loss due to disconnection or the like, the power consumption becomes zero and the range is out of the normal range. On the other hand, if an abnormal current flows, the amount of electric power also becomes an abnormal value and becomes larger than the normal range. Further, if the circuit is short-circuited and the circuit is cut off by a current breaker such as a fuse, the power consumption becomes zero, which is smaller than the normal range. Since the load applied to the other linear actuator that has not failed is large, the power consumption is simply increased and falls within the normal range.

Other Configuration Examples In each of the above embodiments, an example in which a combination of a rotary motor, a motion conversion mechanism for converting rotary motion and linear motion, and a drive mechanism provided with a linear actuator are separately provided has been described. It may be a combined composite configuration. For example, FIG. 15 shows a configuration example in which a drive mechanism including a rotary motor 31 and a cam mechanism 32 which is a motion conversion mechanism and a drive mechanism including a linear actuator 37 are arranged in parallel. The structure is not limited to the cam mechanism, and a drive mechanism provided with the feed screw mechanism shown in FIG. 15 and a drive mechanism provided with a linear actuator may be combined.

Applicable fields Although the above description describes an example in which the discharge device of the present invention is mounted on an air vehicle, the above description is not limited to an example in which the discharge device of the present invention is mounted on an air vehicle, and is described in, for example, Patent Document 2 (Japanese Unexamined Patent Publication No. 2017-9299). It is a stationary type such as an animal repellent device, and can be used as a discharge device that automatically discharges the contents. FIG. 16 is a configuration example of a stationary discharge device. The configuration of this discharge device is basically the same as that of the first embodiment, but the present invention is not limited to this, and all the configurations of the above-described first to eleventh embodiments are applicable.

(Fig. 1 (A), Fig. 4)
1 Discharge device 100 Airframe, 101 Aircraft, 102 Aircraft Body, 103 Arms 104 Rotors, 105 Motors, 106 Cameras, 107 Legs 110 Flight Control Units, 112 Flight Communication Units, 120 Control Terminals,
160 Operation terminal, 163 Discharge button, 164 Stop button, 167 display, 211 Power supply for on-board device, 212 Communication unit for on-board device 210 On-board device control unit (Fig. 1 (B) (C), Fig. 2)
20 sleeve (containment member),
21 sleeve body, 21a radial support,
22 1st end cover part,
221 Pressing member, 221a Cylindrical body, 221b End flange part 222 Cover body 223 Threaded tubular part 23 Second end cover part 231 Cylindrical part, 232 End plate 40 Aerosol container assembly 30 Discharge drive part 31A, 31B Rotation Motor 32A, 32B Cam mechanism 32a Cam, 32c Cam follower 72 Container holding part, 72a disk part, 72b annular convex part, 72c connecting shaft part, 72d support shaft (Fig. 3)
10 Aerosol container 11a Body, 11b Bottom, 11d Mounting cup 12 Stem, 12a Discharge flow path, 12b Stem hole 13 Valve mechanism, 13a Gasket, 13b Spring 14 Actuator, 14a Main body, 14b Flange 15 Nozzle, 16 Tube Form 2, Fig. 5)
2101 Detection unit, 2102 Notification unit 2102A, 2102B Motor driver 2103A, 2103B Current breaker (Embodiment 2, FIG. 6)
24 warning lights, 26 speakers, 25 warning symbols
(Embodiment 3: FIG. 7)
31A, 31B rotary motor
311A, 311B Motor shaft 32 Cam mechanism 33 Main rotating shaft (Embodiment 4: FIG. 8)
35 feed screw mechanism
351 screw shaft, 352 rotating members
351A, 351B rotary motors (Embodiment 5; FIG. 9)
31A1, 31A2; 31B1, 31B2 rotary motor
311A1, 311A2; 311B1, 311B2 motor shaft
312A1, 312A2; 311B1, 312B2 gears
313A, 313B intermediate gear,
(Embodiment 6, FIG. 10)
60A, 60B One-way clutch 61 Drive side member, 61a Internal tooth 62 Driven side member, 62a Claw, 62b Spring member (Embodiment 7, FIG. 11)
60A1,60A2; 60B1,60B2 one-way clutch
(Embodiment 8, FIG. 12)
80 Differential gear mechanism 81A, 81B Side gear, 82 Pinion gear, 83 Case 84 Ring gear, 85 Output side pinion (Embodiment 9, FIG. 13)
90A1, 90A2; 90B1, 90B2 Electromagnetic clutch 2104 Electromagnetic clutch switching unit
(Embodiment 10, FIG. 14)
37A, 37B linear actuator,
37A1,37B1 Actuator body,
37A2, 37B2 Movable member 37A4, 37B4 Actuator driver (Fig. 15)
37 linear actuator,
371 Actuator body, 372 movable member 31 rotary motor, 32 cam mechanism (Fig. 16)
500 Stationary discharge device

Hereinafter, the present invention will be described in detail based on the illustrated embodiments.
The dimensions, materials, shapes, etc. of the components described in the following embodiments should be appropriately changed depending on the configuration of the apparatus to which the invention is applied and various conditions, and the scope of the present invention is defined. It is not intended to be limited to the following embodiments .
[ Embodiment 1]
First, the overall configuration will be described with reference to FIG. 1A and 1B are overall configuration views showing a flying object equipped with the ejection device according to the first embodiment of the present invention as a perspective view, FIG. 1B is a sectional view of the ejection device, and FIG. 1C is C- It is a C line sectional view.
In FIG. 1 (A), 100 represents an air vehicle. The airframe 100 is an unmanned aerial vehicle such as a so-called multicopter, and the airframe 101 includes a fuselage body 102, four arms 103 radially extending from the fuselage body 102, and legs 107 for takeoff and landing. At the tip of the arm 103, four rotary blades 104 are provided via a motor 105, respectively. In the illustrated example, the rotary blade 104 illustrates four quadcopters, but various known multicopters such as three (tricopters) and six (hexacopters) can be applied.
An aerosol container assembly 40 in which an aerosol container is incorporated in a sleeve 20 is mounted on the outer surface of the airframe 101 of the airframe 100, in the illustrated example, on the lower surface of the airframe body 102 via a support portion 50. A nozzle 15 is connected to the stem of the aerosol container inside the aerosol container assembly 40 via a tube 16, and the contents are discharged from the nozzle 15. In the case of a flying object, the aerosol container assembly 40 provided with the aerosol container 10, the tube 16 and the nozzle 15 are included in the ejection device 1 of the flying object, but the tube 16 and the nozzle 15 are not always essential. ..
In the illustrated example, the aerosol container assembly 40 is mounted on the lower surface of the fuselage body 102, but it may be mounted on the rear surface of the fuselage body 102, on the upper surface, or on the front surface. It may be installed.

Figure 14 shows the discharge device according to Embodiment 10 of the present invention, (A) is a sectional view及beauty control block diagram of a discharge device according to Embodiment 10 of the present invention, (B) it is 2 Explanatory drawing when one rotary motor is normal, (C) is explanatory view when one rotary motor fails.
This embodiment 10 is an example in which, unlike the first to ninth embodiments, the drive source is two linear actuators 37A and 37B as a drive source for linear drive. That is, the actuator bodies 37A1 and 37B1 of the linear actuators 37A and 37B are fixed, and one end of the movable members 37A2 and 37B2 that move in the axial direction with respect to the actuator bodies 37A1 and 37B1 is a container holding portion 72 that holds the aerosol container 10. It is fixed to. The moving directions of the movable members 37A2 and 37B2 are parallel to the central axis of the aerosol container 10.
As the linear actuators 37A and 37B, an air cylinder and a solenoid actuator can be used.
The actuator drivers 37A4, 37B4 of the linear actuators 37A, 37B control the solenoid valve provided in the pneumatic circuit of the air cylinder in the case of an air cylinder, and control the solenoid coil of the solenoid in the case of a solenoid actuator. To.
When the two linear actuators 37A are normal, the movable members 37A2 and 37B2 are driven in a linear direction in synchronization with each other, and the aerosol container 10 is pushed up toward the head side via the container holding portion 72 to open the valve mechanism. To do.
When one of the linear actuators 37A fails, the failed linear actuator 37A does not drive, but the failed linear actuator 37A expands in accordance with the extension of the movable member 37B2 of the normal linear actuator 37B, and the failed linear actuator 37A expands to be normal linear. The driving force of the actuator 37B pushes up the aerosol container 10 toward the head side to open the valve mechanism.

FIG. 1 (A) is an overall configuration diagram showing a flying object equipped with the ejection device according to the first embodiment of the present invention as a perspective view, FIG. 1 (B) is a sectional view of the ejection device, and FIG. 1 (C) is (B). It is a cross-sectional view taken along the line CC of. 2A and 2B show a discharge state, in which FIG. 2A is a cross-sectional view of a discharge device when two rotary motors are normal, FIG. 2B is a sectional view taken along line BB of FIG. A cross-sectional view of the discharge device when one of the rotary motors fails, (D) is a cross-sectional view taken along the line DD of (C). FIG. 3 is a diagram showing an example of the valve mechanism of the aerosol container. FIG. 4A is an explanatory diagram showing an example of remote control of a control terminal and a discharge operation terminal of an air vehicle equipped with a discharge device, and FIG. 4B is a control block diagram. 5 (A) is a cross-sectional view and a control block diagram of the discharge device according to the second embodiment of the present invention, (B) is an explanatory view when two rotary motors are normal, and (C) is one rotation. It is explanatory drawing when a motor breaks down. 6 (A) and 6 (B) are diagrams showing an example of the notification unit of FIG. 7A and 7B show a discharge device according to the third embodiment of the present invention, in which FIG. 7A is a cross-sectional view seen from a direction orthogonal to the main rotation axis, and FIG. 7B is a cross-sectional view seen from a direction parallel to the main rotation axis. is there. FIG. 8 shows a discharge device according to the fourth embodiment of the present invention, (A) is a cross-sectional view before discharge , and (B) is a cross-sectional view in a discharge state. 9A and 9B show a discharge device according to the fifth embodiment of the present invention, in which FIG. 9A is a cross-sectional view seen from a direction orthogonal to the main rotation axis, and FIG. 9B is a cross-sectional view seen from a direction parallel to the main rotation axis. is there. Figure 10 shows the ejection device according to a sixth embodiment of the present invention, (A) is a sectional view of the ejection device, (B) is an explanatory view showing an example of a one-way clutch (A), (C ) Is an explanatory diagram of a state in which one of the motors has failed and stopped. FIG. 11 is a cross-sectional view of the discharge device according to the seventh embodiment of the present invention. 12A and 12B show a discharge device according to the eighth embodiment of the present invention, where FIG. 12A is a cross-sectional view of the discharger and FIG. 12B is an enlarged view of a differential gear device. FIG. 13 shows a discharge device according to the ninth embodiment of the present invention. FIG. 13 (A) shows a normal state of the rotary motor in use, and FIG. 13 (B) shows electromagnetic waves due to a failure of the rotary motor in use. An explanatory diagram when switching the clutch, (C) is a control block diagram of the switching control. 14A and 14B show a discharge device according to a tenth embodiment of the present invention, where FIG. 14A is a cross-sectional view and a control block diagram, and FIG. 14B is an explanatory view when two rotary motors are normal. FIG. 15 is a diagram showing a configuration example of a discharge device in which a rotary motor, a cam mechanism, and a linear actuator are arranged in parallel. FIG. 16 is a diagram showing a configuration example in which the discharge device of the present invention is used as a stationary discharge device.

[Embodiment 4]
Figure 8 shows a discharge apparatus according to a fourth embodiment of the present invention, (A) cross-sectional view of the front ejection, (B) is a cross-sectional view of the discharge state.
In the fourth embodiment, the drive mechanism of the discharge drive unit 430 uses a feed screw mechanism 35 instead of a cam mechanism as a motion conversion mechanism that converts the rotary motion of the rotary motor 31 into a linear motion. Different from 3.
The feed screw mechanism 35 includes a screw shaft 351 fixed to the container holding portion 72 and a rotating member 352 that meshes with the screw shaft 351. The screw shaft 351 extends along an extension line of the central axis of the aerosol container 10 and one end thereof is fixed to the container holding portion 72. The rotating member 352 is fixed in the axial direction and movable in the rotational direction. A female screw (not shown) in which the screw of the screw shaft 351 meshes is provided on the inner circumference, and an external gear is provided on the outer circumference. The constituent teeth are provided.
The two rotary motors 351A and 351B are arranged so that the motor shaft 311 is parallel to the screw shaft 351 and the gears 353A and 353B that mesh with the outer teeth of the outer periphery of the rotary member 352 are fixed to the motor shafts 311A and 311B. .. The two rotary motors 351A and 351B rotate in the same rotational direction in synchronization with each other to rotationally drive one rotary member 352. This rotating member 352 serves as the main rotating member.
Due to the rotation of the rotating member 352, the screw shaft 351 held immovably in the rotation direction moves in the axial direction, and the aerosol container 10 is moved toward the head side via the container holding portion 72, and the stem 12 Is pushed into the container to open the valve and discharged, and by rotating the rotating member 352 in the reverse direction, the aerosol container 10 can be moved to the bottom side to release the pushing of the stem 12 and close the valve.
When the two rotary motors 31A and 31B are normal, both of them are rotationally driven in synchronization with each other, and one feed screw mechanism 35 pushes up the aerosol container 10 toward the head side via the container holding portion 72.
When one of the rotary motors fails, for example, when the rotary motor 351A fails, the failed rotary motor 351A and the motor shaft 311A run idle, and the rotary member 352, which is the main rotary member, is rotationally driven only by the normal rotary motor 351B. , The feed screw mechanism 35 is operated, and the aerosol container 10 is pushed up toward the head side to open the valve mechanism.

[Embodiment 6]
FIG. 10 shows a discharge device according to a sixth embodiment of the present invention. (A) is a sectional view of the ejection device is an explanatory view, (C) is an explanatory view of a state where the rotation motor of the hand is stopped by failure of an example of a one-way clutch (B) is (A) ..
Similar to the third embodiment, the sixth embodiment also has a configuration in which one cam mechanism 32 is driven by two rotary motors 31A and 31B, but in the sixth embodiment, the rotary motors 31A and 3
This is an embodiment applied when the motor shafts 311A and 311B of 1B are self-held and do not rotate in the event of a failure.
That is, the motor shafts 311A and 311B of the two rotary motors 31A and 31B are connected to the main rotary shaft 33 via the one-way clutches 60A and 60B.
FIG. 10B shows an example of known one-way clutches 60A and 60B. The one-way clutch includes a drive-side member 61 and a driven-side member 62, and one-way rotation of the drive-side member 61, for example, rotation in the counterclockwise direction shown by the solid line arrow in the drawing is performed on the driven-side member 62. Although it is transmitted, the rotation of the drive-side member 61 in the opposite direction, that is, the rotation in the clockwise direction indicated by the broken arrow in the figure is not transmitted to the driven-side member 62.
In the illustrated example, the internal teeth 61a provided on the inner circumference of the drive-side member 61 are tilted, and the claws 62a that engage with the internal teeth 61a are swingably provided on the driven-side member 62, and the claws 62a are internally provided by the spring member 62b. The structure is urged to press against the teeth 61a, and the claw 62a is caught by the internal teeth 61a in one direction to transmit the driving force, and the claws 62a do not mesh with the internal teeth 61a in the opposite direction and rotate idle. .. The configuration of this one-way clutch is an example, and the configuration is not limited to such a configuration, and various known one-way clutches can be applied.
The direction in which the rotation of the one-way clutches 60A and 60B is transmitted is set by the rotary motors 31A and 31B according to the rotation direction in the discharge operation of the cam 32a. For example, as shown in FIG. 10 (B), in the figure, if the direction of rotation of the discharge operation in a counterclockwise direction the cam 32a, the direction in which the one-way clutch 60A, the torque 60B is transmitted, the rotation motor 31A , 31B is set in the counterclockwise rotation direction.
In the normal state, the two rotary motors 31A and 31B are both synchronously rotationally driven, and the cam 32a is rotationally driven via the one-way clutches 60A and 60B, as shown in FIG. 10 (A).
The aerosol container 10 is pushed up toward the head side via the container holding portion 72, and the valve mechanism of the aerosol container 10 is opened.
On the other hand, of the two rotary motors 31A and 31B, for example, when one of the rotary motors 31A fails and the motor shaft 311A of the failed rotary motor 31A stops, as shown in FIG. 10C, Since the main rotating shaft 33 is rotated by the rotating motor 31B that is rotating normally with respect to the motor shaft 311A of the stopped rotating motor 31A, the driven side member of the one-way clutch 60A rotates the main rotating shaft 33. Rotate in synchronization with the direction. However, in relation to the drive-side member, the one-way clutch 60A rotates in a direction in which it does not mesh with each other and runs idle. Therefore, the main rotary shaft is rotationally driven only by the normal rotary motor 31, the cam mechanism 32 is operated, and the aerosol container 10 is pushed up toward the head side to open the valve mechanism.
When the discharge operation is completed, the two rotary motors 31A and 31B are rotated as they are. Then, the angle of the cam 32a returns to the initial angle, and the container holding portion 72 retracts due to an urging force such as a spring that returns the container supporting portion toward the bottom. Then, the valve mechanism of the aerosol container 10 is closed.

FIG. 14 shows a discharge device according to the tenth embodiment of the present invention, (A) is a cross-sectional view and a control block diagram of the discharge device according to the tenth embodiment of the present invention, and (B) is two rotations. It is explanatory drawing when the motor is normal.
This embodiment 10 is an example in which, unlike the first to ninth embodiments, the drive source is two linear actuators 37A and 37B as a drive source for linear drive. That is, the actuator bodies 37A1 and 37B1 of the linear actuators 37A and 37B are fixed, and one end of the movable members 37A2 and 37B2 that move in the axial direction with respect to the actuator bodies 37A1 and 37B1 is a container holding portion 72 that holds the aerosol container 10. It is fixed to. The moving directions of the movable members 37A2 and 37B2 are parallel to the central axis of the aerosol container 10.
As the linear actuators 37A and 37B, an air cylinder and a solenoid actuator can be used.
The actuator drivers 37A4, 37B4 of the linear actuators 37A, 37B control the solenoid valve provided in the pneumatic circuit of the air cylinder in the case of an air cylinder, and control the solenoid coil of the solenoid in the case of a solenoid actuator. To.
When the two linear actuators 37A are normal, the movable members 37A2 and 37B2 are driven in a linear direction in synchronization with each other, and the aerosol container 10 is pushed up toward the head side via the container holding portion 72 to open the valve mechanism. To do.
When one of the linear actuators 37A fails, the failed linear actuator 37A does not drive, but the failed linear actuator 37A expands in accordance with the extension of the movable member 37B2 of the normal linear actuator 37B, and the failed linear actuator 37A expands to be normal linear. The driving force of the actuator 37B pushes up the aerosol container 10 toward the head side to open the valve mechanism.

Further, similarly to FIG. 5 of the second embodiment, the on-board device control unit 210 is notified of the failure when the detection unit 2101 for detecting the failure of the plurality of linear actuators 37A and 37B and the detection unit 2101 detects the failure. The notification unit 2102 is provided.
That is, the linear actuator 37A, 37B, as shown in FIG. 14 (A), by a control signal from the mounting device controller 210 is adapted to be driven via the actuator driver 37A4,37B4, linear actuators 37A, 37B movable member 3
Information such as the positions of 7A2 and 37B3 and the current is fed back to the on-board device control unit 210. In this example, as shown in FIG. 14B, the linear actuators 37A and 37B are provided with current breakers 2103A and 2103B such as fuses.
To detect a failure, the power consumption is calculated from the current value fed back to the on-board device control unit 210, and if it deviates from the predetermined normal range, it is determined to be a failure, and if a failure is detected, a notification signal is sent to the notification unit. It has become.
That is, when the linear actuators 37A and 37B are normal, the power consumption of the linear actuators 37A and 37B is the same. If any of the linear actuators 37A and 37B fails, and if there is a power loss due to disconnection or the like, the power consumption becomes zero and the range is out of the normal range. On the other hand, if an abnormal current flows, the amount of electric power also becomes an abnormal value and becomes larger than the normal range. Further, if the circuit is short-circuited and the circuit is cut off by a current breaker such as a fuse, the power consumption becomes zero, which is smaller than the normal range. Since the load applied to the other linear actuator that has not failed is large, the power consumption is simply increased and falls within the normal range.

Claims (16)

It is a discharge device for aerosol containers.
It has a drive mechanism for driving the actuator of the aerosol container and a plurality of drive sources for driving the drive mechanism.
The drive mechanism is a discharge device characterized in that the aerosol container is discharged by a drive force of one or more of the plurality of drive sources. The discharge device according to claim 1, wherein the drive source is a rotary drive source, and the drive mechanism includes a motion conversion mechanism that converts the rotary motion of the rotary drive source into a linear motion that drives the actuator. The plurality of rotary drive sources include a drive-side main rotary shaft in which their rotary motions merge and are rotated.
The discharge device according to claim 2, wherein the main rotation shaft is connected to the motion conversion mechanism. The discharge device according to claim 3, wherein the plurality of drive sources are connected to the main rotation shaft via a one-way clutch. The discharge device according to claim 3, wherein the plurality of drive sources rotate the main rotation shaft via a differential gear mechanism. The discharge device according to claim 1 or 2, further comprising a plurality of drive mechanisms for driving the actuator, and each drive mechanism is independently driven by a different drive source. The discharge device according to claim 1, wherein the drive source is a drive source for linear drive. The discharge device according to claim 7, wherein the drive source for linear drive includes an air cylinder. The discharge device according to claim 7, wherein the drive source for linear drive includes a solenoid actuator. The discharge device according to any one of claims 1 to 9, wherein the plurality of drive sources are driven at the same time to perform discharge. The discharge device according to any one of claims 1 to 10, further comprising a detection unit for detecting a failure of the plurality of drive sources. Further having a control unit for controlling the plurality of drive sources,
The discharge device according to claim 11, wherein the control unit drives a part of the plurality of drive sources, and when a failure of the drive source during driving is detected, drives the other drive sources. The discharge device according to claim 11 or 12, further comprising a means for notifying the failure by sound when the failure is detected by the detection unit. The discharge device according to claim 11 or 12, further comprising a means for notifying the failure by light when the failure is detected by the detection unit. The discharge device according to claim 11, further comprising a switching means for switching a drive source when a failure is detected by the detection unit. The discharge device according to claim 15, wherein the switching means is at least one of a solenoid valve and an electromagnetic clutch.

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