JP2021104786A - Taking-off/landing gear for multi-copter - Google Patents

Abstract

To provide a taking-off/landing gear that can secure a size sufficient to enable a multi-copter to take off and land, while suppressing the multi-copter from contacting an obstacle or the like during carrying thereof.SOLUTION: A taking-off/landing gear for a multi-copter comprises a machine frame and an expansion structure mounted on the machine frame which has a plurality of plate materials and which is changed into a non-expansion state in which the plurality of plate materials are not expanded and into an expansion state in which the plurality of plate materials are expanded and in which a region in a planar view is larger than in the non-expansion state. In the expansion structure, a size of the region in the planar view in the expansion state is set to a size sufficient to enable the multi-copter to take off and land.SELECTED DRAWING: Figure 4

Description

The present invention relates to a multicopter takeoff and landing device.

Conventionally, a carrier having a heliport disclosed in Patent Document 1 is known. The carrier of Patent Document 1 includes an unmanned traveling mobile body and a drone heliport provided on the upper surface of the unmanned traveling mobile body.

International Publication No. 2016/143806

However, in the carrier disclosed in Patent Document 1, the heliport is narrower (shorter in left and right length) than the moving body and the heliport is shorter than the moving body in order to prevent the heliport from coming into contact with an obstacle or the like when the unmanned moving body is moving. The front-back length is shorter than that of the moving body. Therefore, the size of the heliport is limited, and there is a problem that a sufficient area for the drone to take off and land cannot be secured.
Therefore, in view of the above problems, it is an object of the present invention to provide a takeoff and landing device capable of ensuring a size that allows a multicopter to take off and land while suppressing contact with obstacles and the like during transportation.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The takeoff and landing device of the multicopter is a machine frame, a deployed structure mounted on the machine frame, a non-deployed state having a plurality of plate materials and not deploying the plurality of plate materials, and the plurality of plate materials. The deployed structure is provided with a deployed structure that can be changed to a deployed state in which the plan view region is larger than that in the undeployed state, and the deployed structure has a multicopter takeoff and landing in the size of the plan view region in the deployed state. Set to a possible size.

In the unfolded structure, the plurality of plate materials are stacked and supported in the thickness direction of the plate material in the undeveloped state, and each of the plurality of plate materials is orthogonal to the thickness direction of the plate material in the unfolded state. Deploy and support in the direction of
In the unfolded structure, the plurality of plate members are combined to form a three-dimensional structure in the undeveloped state, and the three-dimensional structure is expanded in the unfolded state to form the plurality of plate members in a planar shape. ..

The unfolded structure forms a storage box for accommodating the multicopter in the three-dimensional structure.
A slide stay for sliding the deployed structure with respect to the machine frame is provided.
The takeoff and landing device of the multicopter includes an expansion member that can be mounted on the deployed structure in the deployed state and expands a plan view region in which the multicopter takes off and landing while mounted on the deployed structure.

The expansion member is a plate body that can be mounted between adjacent plate materials among the plurality of plate materials when the deployed structure is in the expanded state.
The machine frame is provided with a loading space for loading at least a generator capable of charging the multicopter.
The machine frame includes a connecting portion connected to the work vehicle, and the connecting portion is connected to the work vehicle via an adjusting mechanism that horizontally adjusts a plan view region where the multicopter takes off and landing in the deployed state. NS.

According to the present invention, since the unfolded structure for changing to the unfolded state in which the plan view region is larger than the undeployed state is provided, the unfolded state is deployed while suppressing contact with obstacles and the like during transportation. It is possible to provide a takeoff and landing device capable of ensuring a size that allows the multicopter to take off and land in the state.

It is a side view of a work machine equipped with a work vehicle and a takeoff and landing device, and a multicopter. It is a side view of a work machine equipped with another work vehicle and a takeoff and landing device, and a multicopter. It is a schematic perspective view of the takeoff and landing apparatus having the deployed structure (non-deployed state) of the first embodiment. It is a schematic perspective view of the takeoff and landing apparatus which has the deployed structure (deployed state) of 1st Embodiment. It is a side view of the takeoff and landing device. It is a top view of the takeoff and landing device. It is a front view of the takeoff and landing device. It is a rear view of the takeoff and landing device. It is a schematic perspective view of the takeoff and landing apparatus having the deployed structure (non-deployed state) of the second embodiment. It is a schematic perspective view of the takeoff and landing apparatus and the expansion member which has the unfolding structure (deployment state) of 2nd Embodiment. It is a perspective view of a multicopter. It is a front view of the main part of a multicopter. It is a side view of the main part of a multicopter. It is a top view of the expansion member (first plate body) and the development structure of 1st Embodiment. It is a figure which shows the connecting mechanism (three-point link mechanism).

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 and 2 show a working machine 1 capable of performing work such as takeoff and landing of the multicopter 60. The work machine 1 includes a work vehicle 2 and a takeoff and landing device 20 mounted at the rear of the work vehicle 2.
In the work machine 1 shown in FIG. 1, the work vehicle 2 is a tractor 2 which is one of the agricultural machines. The tractor 2 is provided with a connecting mechanism 10 to which the takeoff and landing device 20 can be mounted. In the case of the present embodiment, the connecting mechanism 10 is a three-point link mechanism provided at the rear of the tractor 2. As shown in FIG. 15, the three-point link mechanism includes a top link 10a, left and right lower links 10b, left and right lift arms 10c, left and right lift rods 10d, and left and right lifts. It has a cylinder 10e. The lower link 10b on the left side can swing (elevate) by driving the lift cylinder 10e on the left side. The lower link 10b on the right side can swing (elevate) by driving the lift cylinder 10e on the right side. The takeoff and landing device 20 is detachably attached to the connecting mechanism 10 of the tractor 2 via a connecting portion 30 provided in the takeoff and landing device 20. The takeoff and landing device 20 can be towed by the tractor 2 and moved.

In the work machine 1 shown in FIG. 2, the work vehicle 2 is a truck, preferably a light truck (a truck manufactured according to the standard of a light vehicle). When the work vehicle 2 is a truck 2, the takeoff and landing device 20 is loaded on the loading platform of the truck 2. The takeoff and landing device 20 can be loaded on the truck 2 and moved.
The work vehicle 2 is not limited to the tractor and the truck, and may be another type of work vehicle.

<Work vehicle>
In the embodiment described below, the front side (left side of FIGS. 1 and 2) of the driver seated in the driver's seat 7 (not shown in FIG. 2) of the work vehicle 2 is the front side, and the rear side of the driver (FIG. 1 and 2). The right side of FIG. 2) will be described as the rear, the left side of the driver (front side of FIGS. 1 and 2) as the left side, and the right side of the driver (back side of FIGS. 1 and 2) as the right side. Further, the horizontal direction, which is a direction orthogonal to the front-rear direction of the work vehicle 2, will be described as the vehicle width direction. Further, the direction from the central portion in the vehicle width direction to the right portion or the left portion will be described as the outer side in the width direction. In other words, the outer direction in the width direction is the direction away from the central portion in the vehicle width direction in the vehicle width direction.

Hereinafter, a case where the work vehicle 2 is a tractor 2 (see FIG. 1) will be described as an example.
The tractor (working vehicle) 2 has a vehicle body 3, a front wheel 5 mounted on the front portion of the vehicle body 3, and a rear wheel 6 mounted on the rear portion of the vehicle body 3. The vehicle body 3 is configured by directly connecting a prime mover (engine) 4, a clutch housing having a clutch, a transmission case 11 having a transmission, a differential case having an operating device, and the like. The driver's seat 7 is provided at the rear of the vehicle body 3. A steering wheel 8 is provided in front of the driver's seat 7. The rear portion of the vehicle body 3 is equipped with a PTO shaft 9 for power extraction, a connecting mechanism 10, and a flood control extraction unit (not shown).

<Overall configuration of takeoff and landing equipment>
The takeoff and landing device 20 is a device for taking off and landing the multicopter 60 and providing support for taking off and landing.
As shown in FIGS. 1 and 2, the takeoff and landing device 20 includes a machine frame 21 and a deployment structure 22 mounted on the machine frame 21. Further, as shown in FIGS. 1 to 10, the takeoff and landing device 20 includes a slide stay 23 that slides the deployment structure 22 with respect to the machine frame 21.

Further, as shown in FIGS. 1 to 5, the takeoff and landing device 20 includes at least a loading space 27 for loading the generator 26, leg members 28, casters 29, and a connecting portion 30 for connecting the takeoff and landing device 20 to the work vehicle 2. It has.
Further, as shown in FIGS. 10 and 14, the takeoff and landing device 20 includes an expansion member 24 that can be attached to the deployed structure 22 in the deployed state Y.

<Multicopter>
As shown in FIGS. 1, 2 and 11 to 13, the multicopter 60 is a rotary wing aircraft capable of flying unmanned by a plurality of rotary wings, and is, for example, a flying object called a drone. The multicopter 60 may fly by remote control by wireless or wired communication, or may fly by autonomous control without depending on a remote device.

The multicopter 60 includes a machine body 61 and a working device 66.
First, the machine body 61 will be described. The airframe 61 has a main body 62, an arm 63, a rotary wing 64, and a skid (leg) 65.
In the case of this embodiment, the shape (outer shape) of the main body 62 is a substantially rectangular parallelepiped shape, but may be another shape such as a disk shape. The main body 62 includes a case 67 (hereinafter, referred to as “first case 67”) and an electrical component 68 (hereinafter, referred to as “first electrical component 68”).

The first case 67 is a box body that constitutes the outer shell of the main body 62, and has an internal space that can be sealed. The first electrical component 68 is housed in the internal space of the first case 67. That is, the periphery of the first electrical component 68 is covered with the first case 67.
The first electrical component 68 is an electrical component that controls the flight of the multicopter 60, and is, for example, a GPS antenna, a control device 90, various sensors (gyro sensor, acceleration sensor, etc.) and the like.

A plurality of arms 63 are attached to the main body 62. In the case of this embodiment, four arms 63 are attached to the main body 62. The four arms 63 extend radially from the center of the main body 62 in a horizontal plane (a plane parallel to the ground in the landing state). However, the number of arms 63 is not limited to four, and may be five or more, or three or less. Further, the arm 63 may have a structure that can be folded toward the main body 62 side.

The base end side of the arm 63 is attached to the main body 62. The tip end side of the arm 63 is bifurcated (Y-shaped) in the middle. Rotor blades 64 are attached to the tip sides of the plurality of arms 63, respectively. In the case of the present embodiment, the number of rotary blades 64 is eight because the tip ends of the four arms 63 are bifurcated and the rotary blades 64 are attached to each branched end.
The rotor 64 generates lift for the multicopter 60 to fly. The rotor 64 is composed of a rotor 69 and a blade (propeller) 70. The rotor 69 is composed of an electric motor (DC motor or the like). The rotor 69 is driven by the electric power supplied from the battery 71, which will be described later. A blade 70 is attached to the upper part of the rotation shaft of the rotor 69. The adjacent rotors 64 rotate in opposite directions. The number of rotary blades 64 is not particularly limited and can be changed according to the required lift and the like. For example, the multicopter 60 may be a tricopter with three rotors 64, a quadcopter with four rotors 64, or a hexacopter with six rotors 64. It may be an octocopter having eight rotors 64.

The skid 65 touches the ground when the multicopter 60 lands and supports the main body 62 on the ground. The skid 65 has a skid 65L provided on the left side of the main body 62 and a skid 65R provided on the right side. The skids 65L and 65R have a lower extension portion 65a extending downward from the main body 62 and a grounding portion 65b provided at the lower end of the lower extension portion 65a. The ground contact portion 65b of the skid 65L and the ground contact portion 65b of the skid 65R extend in the front-rear direction in parallel with each other.

A tank mounting portion 72 is provided below the main body 62. The tank mounting portion 72 detachably supports the working device 66 between the skid 65L and the skid 65R.
Next, the working device 66 will be described.
The work device 66 is a device for performing work related to agriculture. Examples of the working device 66 include a spraying device that sprays a chemical such as a pesticide, a diluting chemical, and a liquid (sprayed material) such as fertilizer on the farm, an imaging device (camera) that photographs the farm, and a temperature sensor that detects the temperature of the farm. Examples include sensor devices such as infrared sensors) and color sensors that detect farm colors (crops colors).

In the case of the embodiment shown in FIG. 1, the working device 66 is a spraying device and has a flying object tank 73 for containing a liquid. In the case of the embodiment shown in FIG. 2, the working device 66 is an imaging device. Hereinafter, a case where the working device 66 is a spraying device will be described as an example.
As shown in FIGS. 1, 2 and 11 to 13, the flying object tank 73 is mounted on the tank mounting portion 72 provided below the main body 62. The flying object tank 73 is removable from the tank mounting portion 72. The flying object tank 73 may be integrally molded with the tank mounting portion 72. The tank mounting portion 72 is a rail having an L-shaped cross section. A mounted portion 73a that projects outward in the width direction from the side of the flying object tank 73 is suspended on the tank mounting portion 72. In FIG. 13, the mounted state of the flying object tank 73 is shown by a solid line, and the state of sliding the flying object tank 73 in the direction of detaching from the tank mounting portion 72 (indicated by the arrow B) is shown by a virtual line.

The air vehicle tank 73 has a container 74 and a lid 75.
The container 74 forms an internal space in which the liquid to be sprayed on the farm is housed. The liquid is, for example, a chemical such as a pesticide, a diluting chemical, a fertilizer, water or the like. The container 74 has a supply unit 76 for supplying a liquid to the internal space on the upper surface of the container 74. The supply unit 76 has a tubular body 76a that projects cylindrically from the upper surface of the container 74. A lid 75 is detachably attached to the tubular body 76a by a screw or the like. The chemicals, diluting chemicals, fertilizers, water and the like contained in the flying vehicle tank 73 are supplied from the flying vehicle tank 73 to the pump 77.

The airframe 61 is equipped with an electrical component 78 (hereinafter, referred to as “second electrical component 78”) different from the first electrical component 68. The second electrical component 78 is detachably arranged below the main body 62 and below the rotary blade 64. The second electrical component 78 includes an energy supply unit 71 that supplies energy to the rotor 69 of the rotary blade 64. In this embodiment, the energy supply unit 71 includes a battery 71 that supplies electric power. When the blade 70 is rotated by the engine instead of the rotor 69 of the rotary blade 64, the energy supply unit 71 is a gasoline tank containing gasoline.

As shown in FIGS. 11 to 13, the second electrical component 78 is partially or wholly housed in a case 79 (hereinafter, referred to as “second case 79”) different from the first case 67. The second case 79 is provided below the main body 62.
As shown in FIG. 11, the multicopter 60 includes a control device 90 and an altitude detection device 91. The control device 90 is composed of a CPU, a program stored (stored) in the storage unit 90a, and the like, and performs various controls related to the multicopter 60. Specifically, the control device 90 controls the rotation of the rotor 69, for example. The control device 90 has a storage unit 90a. The storage unit 90a is a non-volatile memory or the like, and stores various information including the information of the multicopter 60.

The altitude detection device 91 is a device that detects its own position (positioning information including latitude, longitude, and altitude) by a satellite positioning system (Global Positioning System, Galileo, GLONASS, etc.). The altitude detection device 91 receives a signal (position of GPS satellite, transmission time, correction information, etc.) transmitted from a positioning satellite (for example, GPS satellite) G, and based on the received signal, its own position including altitude. (Position information) is detected. The altitude detected by the altitude detection device 91 is output to the control device 90. The control device 90 controls the rotation of the rotor 69 based on the altitude.

<Machine frame>
As shown in FIGS. 1 to 10, the machine frame 21 is a frame material that supports the unfolding structure 22, the slide stay 23, the structure (box body) constituting the loading space 27, the connecting portion 30, and the like. A leg member 28 is provided. The machine frame 21 includes a front frame material 31, a left frame material 32L connected to the left end of the front frame material 31, a right frame material 32R connected to the right end portion of the front frame material 31, a left frame material 32L, and a right side. It has a rear frame member 33 that connects the rear ends of the frame member 32R to each other. The machine frame 21 may not have the rear frame material 33. In the case of the present embodiment, the plan view shape of the machine frame 21 is substantially quadrangular, but may be substantially hexagonal, substantially circular, or the like, and is not particularly limited. In the machine frame 21, the lower surfaces of the front frame material 31, the left frame material 32L, the right frame material 32R, and the rear frame material 33 may be covered with a plate material.

The front frame material 31, the left frame material 32L, the right frame material 32R, and the rear frame material 33 are formed of, for example, a pillar material, a bar material, a pipe material, or the like. The cross-sectional shapes of the front frame member 31, the left frame member 32L, the right frame member 32R, and the rear frame member 33 can be, for example, a substantially U-shape, a substantially rectangular shape, a substantially circular shape, or the like. The front frame member 31 is provided with a connecting portion 30. A structure constituting the loading space 27 is supported on the front portion of the front frame member 31, the left frame member 32L, and the right frame member 32R. The left frame member 32L and the right frame member 32R support the deployable structure 22 so as to be movable in the front-rear direction via the slide stay 23. A leg member 28 that supports the machine frame 21 from below is provided on the lower surface of the corner portion of the machine frame 21.

<Expanded structure of the first embodiment>
1 to 8 and 14 show the deployed structure 22 (221) of the first embodiment. The deployed structure 22 (221) of the first embodiment has a plurality of plate members 34. In the unfolded structure 22 (221) of the first embodiment, a plurality of plate members 34 are unfolded in an unexpanded state X (X1) (see FIG. 3), and a plurality of plate members 34 are unfolded in an unexpanded state X1. It is a structure that can be changed to the unfolded state Y (Y1) (see FIG. 4) in which the plan view region Z (Z1) is larger than that.

The unfolded structure 221 is set so that the size of the plan view region Z (Z1) in the unfolded state Y1 is such that the multicopter 60 can take off and land. The plan view region Z (Z1) is a takeoff and landing space where the multicopter 60 takes off and landing.
The unfolded structure 221 supports a plurality of plate members 34 in an overlapping manner in the thickness direction of the plate members 34 in the undeployed state X1, and supports each of the plurality of plate members 34 in the unfolded state Y1 in a direction orthogonal to the thickness direction of the plate members 34 (horizontal). Deploy in the direction) to support. The direction orthogonal to the thickness direction of the plate member 34 is, for example, the width direction of the plate member 34.

The plurality of plate members 34 are pivotally supported by the same shaft 34a attached to the machine frame 21, are rotatable around the same shaft 34a, and can be deployed by rotation. In this case, the above-mentioned "expansion in the direction orthogonal to the thickness direction of the plate material 34" can be rephrased as "expansion around the axis 34a of the plate material 34".
Further, although not shown, the plurality of plate members 34 may each have elongated holes, and the same shaft 34a attached to the machine frame 21 may be inserted into each elongated hole. In this configuration, the plate members 34 can slide and deploy each other by the shaft 34a moving relative to each other along the elongated holes. In this case, the above-mentioned "expansion in a direction orthogonal to the thickness direction of the plate member 34" can be rephrased as "expansion by movement along the elongated hole of the plate member 34".

In the case of the present embodiment, the plurality of plate materials 34 are composed of a plurality of plate materials that can rotate around the same shaft 34a. The plan view shape of the plurality of plate members 34 is preferably a rectangle, a square, or the like, but may be another shape such as a triangle or a fan shape. The shaft 34a, which serves as a fulcrum for the rotation of the plurality of plate members 34, is located at an eccentric position with respect to the center of each plate member 34. In the case of the present embodiment, the shaft 34a is eccentric toward the front with respect to the center of each plate member 34 in the laminated state (non-deployed state).

The plurality of plate members 34 are expanded and opened by rotating around the same axis 34a from the overlapping and closed state (non-expanded state X1) (expanded state Y1 in which the plan view region Z1 is larger than the undeployed state X1). ). At this time, by sliding the unfolded structure 221 rearward via the slide stay 23 (sliding from the position shown in FIG. 3 to the position shown in FIG. 4), the transition from the undeployed state X1 to the unfolded state Y1 is smooth. It becomes possible to do it.

A fixing portion (not shown) such as a handle can be provided on the upper surface of any one of the plurality of plate materials 34 (for example, the uppermost plate material). The multicopter 60 can be fixed to this fixing portion via a hook, a band, or the like. Further, even if a mark (H mark or the like) that can be recognized as an image by a camera or the like mounted on the multicopter 60 at the time of landing is drawn on the upper surface of any one of the plurality of plate materials 34 (for example, the uppermost plate material). good.

In the case of the present embodiment, the deployable structure 221 having a plurality of plate members 34 is attached to the upper side of the machine frame 21 via the slide stay 23. However, the deployment structure 221 may be directly attached to the upper side of the machine frame 21 without passing through the slide stay 23. When the deployable structure 221 is directly attached to the upper side of the machine frame 21, the shaft 34a that rotatably supports the plurality of plate members 34 is preferably eccentric toward the rear with respect to the center of each plate member 34. As a result, it becomes easy to change the unfolded structure 221 to the unfolded state Y1 without sliding the unfolded structure 221 rearward via the slide stay 23.
Further, the above-mentioned deployment structure 221 may be detachable from the machine frame 21.

<Expanded structure of the second embodiment>
As shown in FIGS. 9 and 10, the deployed structure 22 (222) of the second embodiment is shown. The deployed structure 22 (222) of the second embodiment has a plurality of plate members 36 to 39. In the unfolded structure 22 (222) of the second embodiment, the plurality of plate members 36 to 39 are unfolded in the unexpanded state X (X2) (see FIG. 9) and are flatter than the unexpanded state X2. It is a structure that can be changed to the expanded state Y (Y2) (see FIG. 10) in which the visual region Z (Z2) is large. In the deployed structure 222, the size of the plan view region Z2 in the deployed state Y2 is set to a size that allows the multicopter 60 to take off and land.

The unfolded structure 222 is formed by combining a plurality of plate members 36 to 39 in the unexpanded state X2 to form a three-dimensional structure, and develops the three-dimensional structure in the unfolded state Y2 to form the plurality of plate members 36 to 39 in a planar shape. The unfolding structure 222 forms a storage box 35 for storing the multicopter 60 in a three-dimensional structure. In the case of the present embodiment, the three-dimensional structure is formed as a rectangular parallelepiped or cubic storage box 35 that covers the front, rear, right side, and left side of the multicopter 60. However, the shape of the storage box 35 is not limited to this, and may cover only two or three directions of the front, rear, right side, and left side of the multicopter 60, for example. Further, the storage box 35 may have another shape such as a cylindrical shape.

The plurality of plate materials 36 to 39 constituting the storage box 35 are a bottom plate material 36, a front plate material 37, a left plate material 38L, a right plate material 38R, and a rear plate material 39. The bottom plate material 36 is a rectangular plate in a plan view. The front plate member 37 is a rectangular plate provided on the front side of the bottom plate member 36 so as to be rotatable upward via a hinge or the like. The posture of the front plate member 37 can be changed between an upright state in which the front plate member 37 is erected substantially perpendicular to the bottom plate member 36 and a flush state in which the upper surface of the bottom plate member 36 is substantially flush with the upper surface. The left plate material 38L and the right plate material 38R are rectangular plates provided on the left side and the right side of the bottom plate material 36 so as to be rotatable upward via hinges or the like. The postures of the left plate material 38L and the right plate material 38R can be changed between an upright state in which the left plate material 38L and the right plate material 38R are erected substantially perpendicular to the bottom plate material 36 and a flush state in which the upper surface of the bottom plate material 36 is substantially flush with each other. The rear plate member 39 is a rectangular plate provided on the rear side of the bottom plate member 36 so as to be rotatable upward via a hinge or the like. The posture of the rear plate material 39 can be changed between an upright state in which the rear plate material 39 is erected substantially perpendicular to the bottom plate material 36, an upper surface of the bottom plate material 36, and a flush state in which the upper surface of the bottom plate material 36 is substantially flush with the upper surface. be.

When the four plate materials (front plate material 37, left plate material 38L, right plate material 38R, rear plate material 39) are in an upright state in which they are erected substantially perpendicular to the bottom plate material 36, the adjacent plate materials are latched or the like. It is preferable that they are fixed to each other by the fixtures (not shown).
As shown in FIG. 10, a fixing portion 43 such as a handle can be provided on the upper surface of the bottom plate material 36. The multicopter 60 can be fixed to the fixing portion 43 via a hook, a band, or the like. The fixing portion 43 may be provided on the upper surface of the upper lid 40 described later. Further, a mark (H mark or the like) that allows the multicopter 60 to recognize an image by a camera or the like at the time of landing may be drawn on the upper surface of the bottom plate material 36.

As shown in FIG. 9, the storage box 35 may have an upper lid 40. The upper lid 40 can be put on the upper part (that is, the upper part of the storage box 35) of the four plate materials (front plate material 37, left plate material 38L, right plate material 38R, rear plate material 39) erected in the undeployed state X2. ..
In the case of the present embodiment, the deployable structure 222 constituting the storage box 35 is attached to the upper side of the machine frame 21 via the slide stay 23, but is directly above the machine frame 21 without passing through the slide stay 23. It may be attached to. Further, the deployment structure 222 may be detachable from the machine frame 21.

<Slide stay>
As shown in FIGS. 1 to 10, the slide stay 23 is a member that slides the deployable structure 22 (221, 222) with respect to the machine frame 21. The deployable structure 22 (221, 222) can slide in the front-rear direction with respect to the machine frame 21 together with the slide stay 23.
The slide stay 23 is composed of a pair of left and right members. Specifically, the slide stay 23 is composed of a left member that is slidable with respect to the left frame member 32L of the machine frame 21 and a right member that is slidable with respect to the right frame member 32R. In the case of the present embodiment, the slide stay 23 is a member having a substantially U-shaped cross section that can slide over the left frame member 32L and the right frame member 32R from above, respectively. However, the slide stay 23 is inside the left frame material 32L and the right frame material 32R in which a member having a substantially rectangular cross section that can slide by surrounding the left frame material 32L and the right frame material 32R from the outside, and a rail groove or the like are formed. It may be a runner-shaped member or the like that is slidably inserted in each of the above. Further, the slide stay 23 may be detachable from the machine frame 21.

The slide stay 23 includes a position fixing member 23a that fixes the position with respect to the left frame member 32L and the right frame member 32R. In the case of the present embodiment, the position fixing member 23a is a rod member (pin, bolt, etc.) communicating with the through hole formed in the slide stay 23 and the through hole formed in each of the left frame member 32L and the right frame member 32R. Is.
The positions where the slide stay 23 is fixed by the position fixing member 23a are at least a position closer to the front and a position closer to the rear of the machine frame 21. When the slide stay 23 is in a position closer to the front of the machine frame 21, the deployed structure 22 is in the undeployed state X (see FIGS. 3 and 9). When the slide stay 23 is located closer to the rear of the machine frame 21, the unfolded structure 22 is in the unfolded state Y (see FIGS. 4 and 10).

<Expansion member>
As shown in FIGS. 10 and 14, the expansion member 24 can be attached to the unfolded structure 22 in the unfolded state Y, and the multicopter 60 takes off and landing in the unfolded structure 22 in the mounted state. It is a member that expands.
The expansion member 24 is a plate body (hereinafter, referred to as “first plate body 41”) that can be mounted between adjacent plate materials among a plurality of plate materials when the deployed structure 22 is in the deployed state Y. Further, the expansion member 24 may be a plurality of plate materials that are attached to the deployable structure 22 and can be folded.

FIG. 14 shows a state in which the expansion member 24 is attached to the unfolded structure 22 (221) of the first embodiment in the unfolded state Y1. The first plate body 41 constituting the expansion member 24 is mounted between adjacent plate members 34 of the unfolded structure 22 (221) of the first embodiment in the unfolded state Y1. At this time, the upper surface of the first plate body 41 is substantially flush with the upper surface of at least one plate member 34 of the developed structure 221. In the example shown in FIG. 14, the first plate body 41 is composed of a plurality of (eight pieces) plate bodies having a triangular shape in a plan view. However, the shape and the number of the first plate 41 can be appropriately changed depending on the shape and the like when the unfolded structure 22 (221) is in the unfolded state Y1.

FIG. 10 shows a state in which the expansion member 24 is attached to the unfolded structure 22 (222) of the second embodiment in the unfolded state Y2. As shown in FIG. 10, the first plate body 41 constituting the expansion member 24 is mounted between adjacent plate members 34 of the unfolded structure 22 (222) of the second embodiment in the unfolded state Y2. At this time, the upper surface of the first plate body 41 is substantially flush with the upper surfaces of the plate members 36 to 39 of the developed structure 222. In the example shown in FIG. 10, the first plate body 41 is composed of a plurality of (four sheets) plate bodies having a triangular shape in a plan view. However, the shape and the number of the first plate 41 can be appropriately changed depending on the shape and the like when the unfolded structure 22 (222) is in the unfolded state Y2.

When the first plate body 41 is attached to the unfolded structure 22 of the first or second embodiment, the first plate body 41 is attached to the adjacent plate member 34 with the unfolded structure 22 in the unfolded state Y. It is preferable that they are connected via the tool 41a.

<Generator>
As shown in FIGS. 1, 2 and 5 to 7, the generator 26 is loaded in the loading space 27. Specifically, the generator 26 is housed in a box body constituting the loading space 27. The generator 26 is a device capable of charging the battery 71 of the multicopter 60.

The generator 26 is an alternator in the case of this embodiment. However, the generator 26 may be a motor generator. As the generator 26, for example, one having an output voltage of 60 V or less is used, but the output voltage may be more than 60 V. By using the generator 26 having an output voltage of 60 V or less, power consumption can be reduced and safety is also excellent. Therefore, as the multicopter 60 and the working device 66 of the multicopter 60, those capable of operating at a low voltage of 60 V or less are preferably used. Specifically, as the working device 66, a spraying device or a seeding device is preferably used. In the case of this embodiment, the working device 66 is a spraying device. As the power source of the generator 26, the power taken out from the PTO shaft 9 or the flood control take-out portion of the work vehicle 2 such as a tractor can be used.

<Loading space>
As shown in FIGS. 1, 2, 5, 7, 9, and 10, the loading space 27 is at least a space for loading the generator 26.
The loading space 27 is provided in the front portion of the machine frame 21, and is composed of a substantially rectangular parallelepiped structure (box body) that opens upward. The front portion of the loading space 27 is provided on the upper surface of the front frame member 31 of the machine frame 21. The left and right ends of the loading space 27 from the middle part to the rear part in the front-rear direction are provided on the upper surface of the left frame member 32L and the right frame member 32R of the machine frame 21 from the front part to the middle part. The box body constituting the loading space 27 may have a removable lid body. The box body constituting the loading space 27 may be provided with a partition inside. The box body constituting the loading space 27 may support the central bracket of the connecting portion 30 from the rear by the front surface thereof. In addition to the generator 26, the loading space 27 can be loaded with other accessories such as a spare tank for storing chemicals such as pesticides, diluting chemicals, fertilizers, and liquids such as water, agricultural work tools, and tools.

<Leg member>
As shown in FIGS. 1, 2 and 5 to 8, the leg member 28 is attached to the lower part of the machine frame 21. In the case of the present embodiment, the leg member 28 is a member that can be expanded and contracted and can be attached to and detached from the machine frame 21. However, the leg member 28 may be a member having a constant length or may be a member that cannot be attached to or detached from the machine frame 21. Further, the member may be shorter than the one shown in the figure.

The leg member 28 is detachably attached so as to project downward with respect to the lower surfaces of the four corners of the substantially rectangular machine frame 21. The leg member 28 is composed of a plurality of cylinders whose diameters gradually decrease downward. The leg member 28 is shortened by the smaller diameter cylinder entering the inside of the larger diameter cylinder, and the smaller diameter cylinder exits from the inside of the larger diameter cylinder to the retaining position. Stretch. The leg member 28 has a fastener 47 for fastening a cylinder having a smaller diameter at a position protruding from the inside of the cylinder having a larger diameter in order to hold the length when extended to a predetermined length. May be good. The fastener 47 is a columnar member that can be retracted and retracted, and by fitting into a through hole provided in each cylinder, a cylinder having a smaller diameter is ejected from the inside of a cylinder having a larger diameter. Fasten in position.

It is preferable that casters 29 are provided at all lower ends of the four leg members 28. However, as shown in FIG. 5, the casters 29 may be provided only at the lower ends of the left and right front leg members 28a among the four leg members 28. In this case, it is preferable that the lower ends of the left and right hind leg members 28b on which the casters 29 are not provided are rounded.

<Caster>
As shown in FIGS. 1, 2 and 5 to 8, the caster 29 is provided at the lower end of the leg member 28.
The caster 29 is attached to the lower end of the leg member 28 via a plate material (bracket) so as to be swingable (free type) or non-swingable (fixed type). The caster 29 has a structure such as a single wheel type, a twin wheel type, or a spherical type.
The caster 29 may be directly attached to the lower part of the machine frame 21. In this case, the leg member 28 is omitted.

<Connecting part>
As shown in FIGS. 1, 2 and 5 to 10, the connecting portion 30 is provided at the front portion of the takeoff and landing device 20. The connecting portion 30 is a portion connected to a connecting mechanism 10 (three-point link mechanism or the like) provided at the rear of the work vehicle 2.
As shown in FIGS. 7 to 10, the connecting portion 30 includes a central bracket 48, a central hole 49 provided at the upper end of the central bracket 48, a front arch 50 that supports the central bracket 48, and left and right ends. It has shafts 51L and 51R.

The central bracket 48 is composed of two left and right plate members. These two left and right plate members extend upward from the front arch 50 erected at the front portion of the machine frame 21. The front arch 50 has a portion extending upward from the upper surface of the left portion and a portion extending upward from the upper surface of the right portion of the front frame member 31 of the machine frame 21, and the upper ends of both portions are connected to each other. The two left and right plate members constituting the central bracket 48 extend upward from the upper surface of the substantially central portion in the left-right direction of the front arch 50.

The central hole 49 is provided at the upper end of each of the left and right plate members of the central bracket 48. The hole center direction of the central hole 49 faces the vehicle width direction (left-right direction).
The left and right end shafts 51L and 51R are provided on the front portion of the front frame member 31 of the machine frame 21. The end shafts 51L and 51R project from the front portion of the front frame member 31 on the outer surface in the width direction (outer left and right) to the outer side in the width direction (outer left and right), respectively. The axial directions of the end shafts 51L and 51R are oriented in the vehicle width direction (left-right direction). Through holes are provided at the tips of the left and right end shafts 51L and 51R.

The connecting portion 30 has a structure corresponding to the A frame of the hitch frame by the central bracket 48, the central hole 49, the front arch 50, and the left and right end shafts 51L and 51R.
The central bracket 48 can be connected to the top link 10a of the connecting mechanism 10 via the central hole 49. The end shafts 51L and 51R can be connected to the lower link 10b of the connecting mechanism 10. As a result, the connecting portion 30 can be connected to the connecting mechanism 10 (three-point link mechanism) of the work vehicle 2. In a state where the connecting portion 30 is connected to the connecting mechanism 10 of the work vehicle 2, the connecting mechanism 10 is operated (the heights of the lower links 10b on the left and right sides of the three-point link mechanism are adjusted individually) to perform the multi. The plan view region Z on which the copter 60 takes off and landing can be adjusted horizontally. That is, the connecting mechanism 10 of the work vehicle 2 constitutes an adjusting mechanism 42 that horizontally adjusts the plan view region Z where the multicopter 60 takes off and landing in the deployed state Y of the deployed structure 22. The central bracket 48, the central hole 49, the front arch 50, and the left and right end shafts 51L and 51R constituting the connecting portion 30 are connected to the work vehicle 2 via the connecting mechanism 10 constituting the adjusting mechanism 42.

<Effect>
According to the takeoff and landing device 20 of the multicopter described above, the following effects are obtained.
The takeoff and landing device 20 includes a machine frame 21, an undeployed structure 22 mounted on the machine frame 21, a non-deployed state X having a plurality of plate materials and not deploying a plurality of plate materials, and a plurality of plate materials. The unfolded structure 22 includes an unfolded structure 22 that can be expanded and changed to an unfolded state Y in which the plan view region Z is larger than the unexpanded state X. It is set to a size that allows 60 takeoffs and landings.

According to this configuration, since the takeoff and landing device 20 includes the deployed structure 22 that changes the plane view region Z to the deployed state Y, which is larger than the undeployed state X, obstacles and the like during transportation in the undeployed state X, etc. It is possible to secure a size that allows the multicopter 60 to take off and land in the deployed state Y while suppressing contact with the multicopter.
Further, the unfolded structure 22 (221) supports the plurality of plate members 34 in the undeveloped state X (X1) in an overlapping manner in the thickness direction of the plate members 34, and supports the plurality of plate members 34 in the unfolded state Y (Y1). Each of 34 is developed and supported in a direction orthogonal to the thickness direction of the plate member 34.

According to this configuration, the plan view region of the unfolded structure 22 (221) in the unexpanded state X1 can be made compact by stacking a plurality of plate members 34 in the thickness direction. Further, the transition from the unexpanded state X1 to the unfolded state Y (Y1) can be easily performed by deploying the plate member 34 in the direction orthogonal to the thickness direction.
Further, in the unfolded structure 22 (222), a plurality of plate members 36 to 39 are combined to form a three-dimensional structure in the unexpanded state X (X2), and the three-dimensional structure is formed in the unfolded state Y (Y2). Is developed to form a plurality of plate members 36 to 39 in a plane shape.

According to this configuration, the plan view region of the deployed structure 22 (222) in the non-deployed state X1 can be made compact by combining the plurality of plate members 36 to 39 to form a three-dimensional structure. Further, the transition from the unexpanded state X1 to the unfolded state Y (Y2) can be easily performed by expanding the three-dimensional structure.
Further, the deployable structure 22 (222) forms a storage box 35 for storing the multicopter 60 in the three-dimensional structure.

According to this configuration, the multicopter 60 can be stored in the storage box 35 by setting the deployable structure 222 to the undeployed state X2 during transportation and storage of the takeoff and landing device 20. Further, the storage box 35 can also be used as a storage box for storing the multicopter 60.
Further, the takeoff and landing device 20 includes a slide stay 23 that slides the deployable structure 22 with respect to the machine frame 21.

According to this configuration, the position of the slide stay 23 with respect to the machine frame 21 can be changed by sliding the deployable structure 22 via the slide stay 23. As a result, when the unfolded structure 22 is changed from the unexpanded state X to the unfolded state Y, sufficient space required for the change can be secured around the unfolded structure 22. Further, when the deployed structure 22 is in the non-deployed state X, the deployed structure 22 in the non-deployed state X can be arranged at a position where contact with an obstacle or the like can be avoided.

More specifically, for example, by sliding the unfolding structure 22 toward the rear via the slide stay 23, a space for rotating the plurality of plate members 34 constituting the unfolding structure 221 and the unfolding structure 222 can be provided. It is possible to secure a space or the like in which the constituent front plate member 37 rotates forward. Further, when the takeoff and landing device 20 is transported or stored, the deployed structure 22 is set to the undeployed state X and the deployed structure 22 is slid forward via the slide stay 23 to avoid contact with obstacles and the like. And the storage space can be saved.

Further, the takeoff and landing device 20 includes an expansion member 24 that can be mounted on the deploying structure 22 in the deployed state Y and expands the plan view region Z on which the multicopter 60 takes off and landing in the mounted state.
According to this configuration, at the time of takeoff and landing of the multicopter 60, by mounting the expansion member 24 on the deployable structure 22, it is possible to secure a plan view region Z having a sufficiently large area for takeoff and landing of the multicopter 60. Further, when the takeoff and landing device 20 is transported or stored, by removing the expansion member 24, smooth transport is possible without disturbing the transport, and the storage space can be saved.

Further, the expansion member 24 is a plate body (first plate body) 41 that can be mounted between adjacent plate materials among a plurality of plate materials when the unfolded structure 22 is in the unfolded state Y.
According to this configuration, by mounting the first plate body 41, it is possible to secure a plan view region Z having an area and a shape suitable for takeoff and landing of the multicopter 60.
Further, the machine frame 21 is provided with a loading space 27 for loading at least a generator 26 capable of charging the multicopter 60.

According to this configuration, the generator 26 can charge the battery mounted on the multicopter 60 at the site where the multicopter 60 is taken off and landed in a field or the like, and the generator 26 can be used as the takeoff and landing device 20. Can be transported with.
Further, the machine frame 21 includes a connecting portion 30 connected to the work vehicle 2, and the connecting portion 30 is via an adjusting mechanism 42 that horizontally adjusts the plan view region Z in which the multicopter 60 takes off and landing in the deployed state Y. It is connected to the work vehicle 2.

According to this configuration, even when the takeoff / landing device 20 moves to a place where the ground is not horizontal, the plane view region Z can be made horizontal by the adjusting mechanism 42, so that the multicopter 60 can take off and land smoothly. It will be possible.
Although the embodiments of the present invention have been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

2 Work vehicle 20 Takeoff and landing device 21 Machine frame 22 Deployment structure 23 Slide stay 24 Expansion member 26 Generator 27 Loading space 30 Connection part 34 Plate material 35 Storage box 36 Plate material 37 Plate material 38 Plate material 39 Plate material 41 Plate body (first plate body)
42 Adjustment mechanism 221 Expanded structure 222 Expanded structure X Unexpanded state X1 Unexpanded state X2 Unexpanded state Y Expanded state Y1 Expanded state Y2 Expanded state Z Plane view region

Claims (9)

With the machine frame
An undeployed structure mounted on the machine frame, which has a plurality of plate materials and the plurality of plate materials are not unfolded, and a unexpanded state in which the plurality of plate materials are unfolded and is flatter than the unexpanded state. It has a deployment structure that can be changed to a deployment state with a large viewing area.
The deployed structure is a multicopter takeoff and landing device in which the size of the plan view region in the deployed state is set to a size that allows the multicopter to take off and land. In the unfolded structure, the plurality of plate members are stacked and supported in the thickness direction of the plate members in the undeveloped state, and the plurality of plate materials are supported in the unfolded state in a direction orthogonal to the thickness direction of each of the plurality of plate materials. The multicopter takeoff and landing device according to claim 1, which is deployed and supported in the above. In the unfolded structure, the plurality of plate members are combined to form a three-dimensional structure in the undeveloped state, and the three-dimensional structure is expanded in the unfolded state to form the plurality of plate members in a planar shape. The multicopter takeoff and landing device according to claim 1. The takeoff and landing device for a multicopter according to claim 3, wherein the deployed structure forms a storage box for accommodating the multicopter in the three-dimensional structure. The multicopter takeoff and landing device according to any one of claims 1 to 4, further comprising a slide stay for sliding the deployed structure with respect to the machine frame. Any of claims 1 to 5, which is mountable on the deployed structure in the deployed state and includes an expansion member that expands the plan view region on which the multicopter takes off and landing while mounted on the deployed structure. The multicopter takeoff and landing device described in. The takeoff and landing device for a multicopter according to claim 6, wherein the expansion member is a plate body that can be mounted between adjacent plate materials among the plurality of plate materials when the deployed structure is in the deployed state. The takeoff and landing device for a multicopter according to any one of claims 1 to 7, wherein the machine frame includes a loading space for loading at least a generator capable of charging the multicopter. The machine frame includes a connecting portion connected to a work vehicle.
The takeoff and landing of the multicopter according to any one of claims 1 to 8, wherein the connecting portion is connected to the work vehicle via an adjustment mechanism that horizontally adjusts a plan view region where the multicopter takes off and landing in the deployed state. Device.

Images