JP6307723B2 - Shock mitigation and bounce reduction system and method - Google Patents

Description

  The present invention relates to a system and method for mitigating impact during an object collision and reducing rebound after the collision.

  Conventionally, various methods have been proposed in order to mitigate the impact at the time of an object collision and reduce the bounce after the collision.

(Honeycomb crash)
Non-Patent Document 1 describes a method of absorbing an impact at the time of collision by plastic deformation of an impact absorbing member (FIG. 16). However, in this method, since the impact is absorbed using plastic deformation, the shock absorbing member once used cannot be reused. Therefore, since tests such as operation confirmation cannot be performed before actual use, reliability remains uneasy in that it cannot be guaranteed whether it will function normally when necessary.

(Reverse injection method)
Patent Document 1 describes a planetary probe having a configuration that reduces the impact at the time of collision by ejecting fluid before the collision and reducing the relative speed between the objects (FIG. 17). However, in such a configuration, it is necessary to finely control the fluid to be injected in order to adjust the speed, and a large-scale device such as an on-off valve or a processing system is required. In addition, if the fluid colliding with the surface of the impacted object damages or contaminates the surface of the impacted object, or if the powder adheres to the surface of the impacted object, the powder is rolled up by the jet flow. The problem that it will be caused.

(Airbag)
Patent Document 2 describes an impact mitigation device that reduces an impact by filling an airbag with a gas before a collision and installing the airbag between collision objects (FIG. 18). In such an apparatus, it is typically a problem that the collision object greatly bounces after the collision, but it is possible to suppress the bounce by controlling the air pressure at the time of the collision. However, since compressed gas is used to fill the airbag with gas, refilling / loading of the airbag, folding of the inflated airbag, damage confirmation, and the like are necessary, and reuse is difficult as with the honeycomb crash. Further, a mechanism such as a valve for adjusting the air pressure needs to be adjusted according to the impact condition, and lacks robustness against fluctuations in environmental conditions.

(Method by exchanging momentum)
Non-Patent Document 2 describes a method of controlling the collision speed by exchanging momentum by injecting mass in the vertical direction before and after the collision (FIG. 19). However, in such a method, since there is an upper limit of the injection speed as a restriction on the apparatus, it is necessary to increase the mass of the injection object in theory of momentum exchange.

(Landing mechanism of vertical take-off and landing aircraft)
Patent Document 3 describes a landing mechanism of a vertical take-off and landing aircraft having a configuration that converts and holds mechanical energy at the time of collision into potential energy of a spring. In this landing mechanism, a spring is installed between the colliding object and the colliding object, and only the movement in the direction in which the spring contracts is allowed, and the movement in the direction in which the spring tries to extend is blocked by the fixing device. (Refer to FIG. 1, FIG. 3, etc. in Patent Document 3). However, when the impacted object is a soft elastic body, the impact reduction performance of this landing mechanism deteriorates. Further, in order to hold the contracted spring, a fixing device that can operate at a high strength and at a high speed in response to an impact is required.

(Active legs)
Non-Patent Document 3 describes a configuration in which an impact is converted into heat using a semi-active damper or a motor (FIG. 20). However, such a configuration requires a high-speed processing system in order to adjust the rigidity and attenuation with the object to be collided in a short time immediately before and after the collision. In addition, in order to improve the impact reduction performance, the damper requires a sufficiently long stroke, and further requires an electrically large capacity motor.

JP 2001-322600 A JP 2001-63499 A JP 2007-245925 A

Rogers, W. F., Apollo Experience Report Lunar Module Landing Gear Subsystem, NASA TN D-6850, NASA, (1972), pp. 6-21. Susumu Hara, Tsubasa Watanabe, Yohei Kushida, Shingo Otsuki, Hiroshi Yamada, Hiroshi Matsuhisa, Keisuke Yamada, Kiaki Hashimoto, Takashi Kubota, “Study on Landing Response Control of Planetary Explorer Based on Momentum Exchange Principle”, Japan Society of Mechanical Engineers Journal C, Vol.78 (2012), No.792 pp.2781-2796 Katsuya Taguchi, Jukiaki Hashimoto, Shingo Otsuki, “Dynamic touchdown control for high-precision and high-safety landing using active landing legs”, Proceedings of the Lecture Meeting of the Space Science and Technology Union, (2009), JSASS -2009-4250

(Problem 1)
In view of the above-described problems of the prior art, an object of the present invention is to provide an impact and bounce reduction system and method having the following characteristics.
-It can be reused without using consumables and without plastic deformation of the members.
-Less damage and contamination to the impacted object.
-Easy to control and does not require a high-speed processing system.
-Even if the entire device is small and light, it has the ability to suppress impact and rebound.
・ There is little danger to the surroundings due to ejected objects.
-It is a method with robustness that does not depend on the characteristics of the impacted object, such as being able to reduce the bounce of soft impacted objects.

(Problem 2)
Moreover, regarding the solution of the problem 1, it is an object of the present invention to provide a parameter design procedure for a shock absorbing spring for exhibiting a good performance when a free fall from a predetermined height is assumed.

(Problem 3)
Furthermore, in addition to solving the problem 1, the present invention has an object to provide a device for adding the following capabilities.
-Suppresses impact, rebound, and rotational movement even on a collision target with a bumpy surface.
-Suppresses impact, rebound, and rotational movement even on an impacted object with an inclined collision surface.
-Stabilize the posture of a colliding object when colliding with a collided object with a bumpy surface.
-Stabilize the posture of the collision object in the event of a collision with a collided object whose collision surface is inclined.
・ Exhibits robust performance against changes in design parameters of components of collision objects.

(Basic concept of the present invention)
In a typical aspect of the present invention, in a typical embodiment, the mechanical energy of the parent machine (collision body) at the time of collision is converted into the potential energy of the shock absorbing spring (elastic body), and the energy is again transmitted to the child machine (flying body). By converting to mechanical energy, the impact applied to the main unit is reduced and the rebound at the time of collision is simultaneously reduced. That is, a total of two energy conversions are performed in one exemplary embodiment of the present invention, in which the kinetic energy of the impact response is converted into potential energy and replaced with kinetic energy. However, it is not essential to use the slave unit in the present invention, and it is possible to reduce the impact and rebound at the time of collision to some extent only by energy conversion between the master unit and the shock absorbing spring.

  Hereinafter, for each of the above (Problem 1) to (Problem 3), the means for solving the respective problems will be outlined, and then the specific solving means provided by the present invention will be described. However, it should be noted that it is not essential for the present invention to have all the configurations outlined and explained below as a solution, and the technical scope of the present invention is defined by the description of the claims.

Outline of solution means for Problem 1 (hereinafter, for convenience, the means may be referred to as “master-slave device separation mechanism”)
The base-slave unit separation mechanism includes a collision body (base unit), a flying body (slave unit), an impact (energy) absorption spring, a preceding collision unit (leg unit), a fixing device, a rail, and an actuator (drive device).

  The base unit separation mechanism converts the mechanical energy of the base unit at the time of a collision into the potential energy of the shock absorbing spring, converts that energy into the kinetic energy of the base unit again, and reduces the impact applied to the base unit. Realizes simultaneous reduction of rebound at the time of collision. In other words, a total of two energy conversions are performed in the present invention, in which the kinetic energy of the impact response is converted into potential energy and replaced with kinetic energy.

  The base unit and the leg are limited to such an extent that the base unit can freely move up and down. The parent device and the child device are coupled by a fixing device, and the parent device and the child device can be separated by releasing the fixing device at an arbitrary time.

The method flow is as follows.
A. A leg part contacts a colliding body first.
B. When the leg comes into contact with the collision object, the leg receives a reaction force in the direction opposite to the original traveling direction. On the other hand, since the base unit tries to continue the movement in the original traveling direction due to inertia, the shock absorbing spring extends. As the shock absorbing spring extends, the mechanical energy of the base unit at the time of collision is gradually converted to the potential energy of the shock absorbing spring.
C. In a state where the shock absorbing spring is sufficiently extended, most of the mechanical energy of the parent machine is converted into the potential energy of the shock absorbing spring, so that the speed of the parent machine is sufficiently low. Thus, the master unit and the slave unit are separated at the timing when the shock absorbing spring is sufficiently extended.
D. Since the master unit does not receive any force from the spring after the separation of the master unit and the slave unit, the master unit is released in a sufficiently decelerated state, and impact and rebound at the time of collision are reduced. On the other hand, the slave unit receives a force from the spring and obtains a speed in the direction opposite to the original traveling direction.
E. When the extended spring contracts to the natural length, the slave unit is separated from the spring and injected in the direction opposite to the original traveling direction.
F. Here, in order to control the fall position of the slave unit, the direction of the tip of the rail is changed by bending the rail by driving the actuator. The child machine moves along the rail and is ejected toward the end of the rail. If the handset exceeds the end of the rail, the handset will no longer be restrained by the rail and will move parabolically.

Outline of Solution to Problem 2 (hereinafter, this design procedure may be referred to as “optimal design” for convenience)
The design procedure of the shock absorbing spring, which is important for improving the performance of the base unit separation mechanism (see the conceptual diagram on the left in FIG. 25) when assuming free fall from a fixed height, is described below (however, , Only when the below-mentioned telescopic leg mechanism is not used).
A. The length that the shock absorbing spring can extend is made as large as possible.
B. The shock absorbing spring constant is determined according to the following equation.

なお、上記各式中の各変数の定義については、以下の表１、及び図２５を参照。

When the shock absorbing spring can be held in a previously extended state (see the conceptual diagram on the right side of FIG. 25), the performance is further enhanced. Regarding the case where the shock absorbing spring can be held in a stretched state in advance, the design of the shock absorbing spring for further improving the performance of the present invention will be described below.
A. Hold the shock absorbing spring in an extended state as much as possible.
B. The length that the shock absorbing spring can extend is made as large as possible.
C. The shock absorbing spring constant is determined according to the following equation.

For the definition of each variable in the above formulas, see the following Table 1 and FIG.

Outline of Solution to Problem 3 As described in the following, the device 3 can be solved by adding some ingenuity to the master-slave unit separation mechanism. (Hereinafter, this device may be referred to as an “extensible leg mechanism” for convenience.)

  The main unit and slave unit separation mechanism with telescopic leg mechanism is the collision body (main unit), flying body (sub unit), shock (energy) absorption spring, shock absorption spring holding part, fixing device, rail, rail control actuator (drive) Device), a rail control wire, a movable leg, an occlusal member, a restraint spring, and a restraint actuator (drive device).

  The base-slave unit separation mechanism having the telescopic leg mechanism converts the mechanical energy of the base unit into the potential energy of the shock absorbing spring at the time of the collision by causing the movable legs to collide first, and that energy is again transmitted to the sub-unit. It is converted into the kinetic energy of the machine, and the impact applied to the master machine is reduced and the rebound at the time of collision is simultaneously reduced. In other words, a total of two energy conversions are performed in the present invention, in which the kinetic energy of the impact response is converted into potential energy and replaced with kinetic energy.

  The base unit and the shock absorbing spring holding part are restricted to such an extent that the base unit can freely move up and down. The parent device and the child device are coupled by a fixing device, and the parent device and the child device can be separated by releasing the fixing device at an arbitrary time.

  The movement of the movable leg can be fixed or released using an occlusal member and a restraining spring. Further, an upward or downward force can be applied to the movable leg portion by the restraining actuator. Therefore, if the length of the movable leg is fixed to the length along the collision surface of the collision object, the shock absorbing spring holding part can receive an equal load from all the movable legs, so that the rotational moment during the collision Does not occur. Further, even when fluctuation occurs in the parameters of the shock absorbing spring, the movable leg compensates for an error in the extension amount of the spring, so that the performance is hardly affected.

The method flow is as follows.
A. One of the first movable legs comes into contact with the collision object first. After the contact, the first movable leg portion slides.
B. The movement of the first movable leg is fixed by the first occlusion member and the first restraining spring at the timing when all the first movable legs are in contact. At this time, in order to maintain the state in which the first movable legs are in contact with the ground, the first restraining actuator can be used as an auxiliary.
C. After restraint by the first occlusal member and the first restraining spring, the shock absorbing spring holding portion receives a reaction force in the direction opposite to the original traveling direction. On the other hand, since the base unit, the slave unit, and the slave unit installation part try to continue the movement in the original traveling direction due to inertia, the shock absorbing spring extends. As the shock absorbing spring extends, the mechanical energy of the base unit at the time of collision is gradually converted to the potential energy of the shock absorbing spring.
D. When the second movable leg portion at the lower part of the base unit comes into contact with the collided object, the second movable leg portion slides in the same manner as A. At this time, in order to maintain the state in which all the second movable legs are in contact with the ground, the second restraining actuator can be used supplementarily.
E. In a state where the shock absorbing spring is sufficiently extended, most of the mechanical energy of the parent machine is converted into the potential energy of the shock absorbing spring, so that the speed of the parent machine is sufficiently low. Thus, the master unit and the slave unit are separated at the timing when the shock absorbing spring is sufficiently extended.
F. Simultaneously with the separation of the parent machine and the child machine, the second movable leg portion at the lower part of the parent machine is fixed by the second occlusion member and the second restraining spring.
G. Since the base unit is released in a state where the speed is sufficiently low and in contact with the surface of the collision target, impact and rebound at the time of collision are greatly reduced. In addition, the posture is stabilized.
H. After the separation of the parent device and the child device, the child device receives a force from the shock absorbing spring and obtains a speed in the direction opposite to the original traveling direction.
I. When the extended spring contracts to the natural length, the slave unit is released from the shock absorbing spring and is ejected in the direction opposite to the original traveling direction.
J. et al. Here, in order to control the fall position of the slave unit, the direction of the end of the rail is changed by bending the rail by driving the rail control actuator. The child machine moves along the rail and is ejected toward the end of the rail. If the handset exceeds the end of the rail, the handset will no longer be restrained by the rail and will move parabolically.

  Hereinafter, specific means proposed by the present invention will be described.

  The present invention is a system for alleviating an impact when a collision object collides with a collision object and reducing the bounce after the collision, and includes a collision object, an elastic body, a collision body, and an elastic body. The collision body connecting portion, which is connected so that mechanical energy can be transmitted, and the elastic body are held, and the collision body connected to the elastic body by the collision body connection portion is elastically moved toward the collision target body. An elastic body holding part configured to restrict the body, and a preceding collision body provided with a preceding collision part, and after the preceding collision part collides with the collision object, the collision body becomes an elastic body holding part. By moving toward the impacted body while being restricted by the elastic body due to the impact body, at least a part of the mechanical energy of the impacting body is converted into the potential energy of the elastic body, Disconnect the collision body and elastic body It allows to provide a system which is characterized in that the collision object that has lost at least part of the mechanical energy which is configured to collide with the collision object (system present first invention.).

  The system according to the first aspect of the present invention further includes a flying body connecting portion that connects the elastic body and the flying body so that mechanical energy can be transmitted, and the connection between the collision body and the elastic body is released by the collision body connecting portion. After that, it is preferable that at least a part of the potential energy of the elastic body is converted into the mechanical energy of the flying body via the flying body connecting portion, and the flying body is ejected.

  The system according to the first aspect of the present invention including the flying object connecting portion further includes a guide rail for guiding the flying object, and controls the emitting direction of the flying object by injecting the flying object in a direction guided by the guiding rail. It can be configured to do so.

  The system according to the first aspect of the present invention including the guide rail further includes an actuator that drives the guide rail, and the actuator is driven by the actuator so as to select an injection direction of the flying object guided by the guide rail. Is possible.

  The system according to the first aspect of the present invention may be configured so that the collision body and the elastic body formed by the collision body connection portion respond to the length of the elastic body exceeding a predetermined value or in response to exceeding the predetermined value. It can be configured to release the connection with the body.

  In addition, the system according to the first aspect of the present invention is connected to the collision object in response to the velocity of the collision object being less than or equal to a predetermined value or less than the predetermined value. It is possible to configure so as to release the connection between the collision body and the elastic body.

（１）
（ｍは、衝突体の質量、及び、衝突体が弾性体保持部による弾性体を介した制限を受けながら被衝突体に向かって移動しているときに衝突体と一体となって移動する全ての要素の質量の合計を表わす。ｇは重力加速度を表す。ｈ₀は、衝突体が被衝突体に向かって移動を開始した時点での、被衝突体上の衝突面に対する衝突体の高さを表わす。ｌ_stは、弾性体が自然長であるときの、先行衝突体に対する衝突体の高さを表わす。）
に基づいて決定されたばね定数ｋ_sを有するばねを用いてよい。上記式（１）を満たすばね定数ｋ_sを有するばねを用いれば、後述のとおり、衝突体における衝突後の跳ね返りを最小化することが可能となる。ただし、ばね定数ｋ_sが上記式（１）を厳密に満たすことは必須ではない。個々の実施態様において許容可能な跳ね返りの程度、製造技術上実現可能な実際のばね定数値の精度等に応じて、弾性体の剛性は任意に選択可能である。 As the elastic body, the following formula

(1)
(M is the mass of the collision body and all of the collision body moving together with the collision body when moving toward the collision body while being restricted by the elastic body holding part via the elastic body. G represents the acceleration of gravity, and h ₀ is the height of the collision object relative to the collision surface on the collision object at the time when the collision object starts moving toward the collision object. L _st represents the height of the collision body relative to the preceding collision body when the elastic body has a natural length.)
A spring having a spring constant k _s determined based on can be used. If a spring having a spring constant k _s satisfying the above formula (1) is used, it is possible to minimize the rebound after the collision in the collision body as will be described later. However, it is not essential that the spring constant k _s strictly satisfies the above formula (1). The rigidity of the elastic body can be arbitrarily selected according to the degree of bounce allowable in each embodiment, the accuracy of the actual spring constant value that can be realized in the manufacturing technology, and the like.

  When the elastic body has a natural length, the height of the collision body relative to the preceding collision body (hereinafter referred to as “stroke length” of the elastic body in the first invention of the present invention) is a predetermined value or more, or It is possible to make it larger than a predetermined value. As will be described later, in the system of the first aspect of the present invention, the acceleration during separation of the collision object can be reduced by increasing the stroke length. However, because the stroke length cannot normally be increased without limitation due to system size limitations, it is preferable to set a predetermined value that can be realized in each embodiment and to secure a stroke length that is greater than or equal to this value.

  Furthermore, the present invention relates to a method for alleviating an impact when a collision object collides with a collided object and reducing rebound after the collision, wherein the collision object connecting portion mechanically combines the collision object and the elastic body. And the elastic body holding part of the preceding collision body holds the elastic body, so that the collision body moves toward the collision body through the elastic body. However, the stage where the preceding collision part of the preceding collision object collides with the object to be collided, and after the preceding collision part collides with the object to be collided, the collision object moves toward the object while being restricted by the elastic body. When at least a part of the mechanical energy of the impacting body is converted into the potential energy of the elastic body, the connection between the impacting body and the elastic body is released by the impacting body connecting portion. Impactor that has lost at least part of its energy A method which is characterized in that a step of colliding the object colliding body (methods present first invention).

  In the method of the first aspect of the present invention, after releasing the connection between the collision body and the elastic body by the collision body connection portion, at least a part of the potential energy of the elastic body is mechanically transferred between the elastic body and the flying body connection portion. It is preferable that the method further includes the step of converting the flying energy to the mechanical energy of the flying object connected so as to be able to transmit the dynamic energy through the flying object connecting portion and injecting the flying object.

  The step of injecting the flying object may be a step of injecting the flying object by controlling the injection direction of the flying object by guiding the flying object by the guide rail and injecting the flying object in a direction guided by the guide rail. .

  In the method according to the first aspect of the present invention using the guide rail, the step of injecting the flying object is a step of injecting while selecting the injection direction of the flying object guided by the guide rail by driving the guide rail by an actuator. It may be.

  Further, according to the method of the first aspect of the present invention, the release of the connection between the collision body and the elastic body by the collision body connecting portion is in response to the length of the elastic body becoming a predetermined value or more, or exceeds the predetermined value. It can be configured to be performed in response to this.

  Further, the method of the first aspect of the present invention responds to the release of the connection between the collision body and the elastic body by the collision body connection portion when the magnitude of the speed of the collision body with respect to the collision body becomes a predetermined value or less. Or in response to falling below a predetermined value.

Also in the method of the first aspect of the present invention, as the elastic body, a spring having a spring constant k _s determined based on the above formula (1) may be used. If a spring having a spring constant k _s satisfying the above formula (1) is used, it is possible to minimize the rebound after the collision in the collision body as will be described later. As already described, it is not essential that the spring constant k _s strictly satisfies the above formula (1). The rigidity of the elastic body can be arbitrarily selected according to the degree of bounce allowable in each embodiment, the accuracy of the actual spring constant value that can be realized in the manufacturing technology, and the like.

  Also in the method of the first invention, the height (stroke length) of the collision body with respect to the preceding collision body when the elastic body has a natural length is greater than or equal to a predetermined value. It is possible to use a configured preceding collision body and collision body. As already described, it is preferable to set a predetermined value that can be realized in each embodiment and to secure a stroke length that is greater than or equal to this value.

  The present invention also relates to a system for alleviating an impact when a collision object collides with a collision object and reducing a rebound after the collision, the collision object, a flying object, an elastic body, and an elastic body. Connecting the flying object and the flying object so that the mechanical energy can be transmitted, and connecting the flying object and the flying object so that the mechanical energy can be transmitted. The flying object connected to the elastic body by the flying object connecting part and the collision object connected to the flying object by the collision object connecting part are restricted to move toward the collision object via the elastic body. An elastic body holding portion configured to prevent the flying body connecting portion from moving beyond a predetermined position toward the elastic body holding portion, and a preceding collision portion With a preceding collision body, and the preceding collision part is After the collision with the collision object, the flying object and the collision object move toward the collision object while being restricted by the elastic body holding part via the elastic body, so that at least the mechanical energy of the flying object and the collision object is reduced. When a part of the energy is converted to the potential energy of the elastic body, the collision object that has lost at least a part of the mechanical energy is hit by releasing the connection between the collision object and the flying object at the collision object connection part. Further, after the connection between the collision object and the flying object is released by the collision object connecting portion, at least a part of the potential energy of the elastic body is passed through the flying object connection portion. The system is characterized in that it is configured to convert the energy into dynamic energy and eject the flying object (the system of the second invention of the present invention).

  Further, the system according to the second aspect of the present invention is connected to the collision object in response to the velocity of the collision object with respect to the collision object being lower than the predetermined value or in response to being lower than the predetermined value. It is possible to configure so that the connection between the collision object and the flying object by the unit is released. As will be described later, in one aspect of the operation of the system of the second invention, the connection between the collision object and the flying object is released in response to the speed of the collision object with respect to the collision object becoming zero. However, in view of the fact that there is usually a limit to the speed detection accuracy and the disconnection timing control capability, an appropriate predetermined value for the speed magnitude is set according to each embodiment, and the speed magnitude is set. It is preferable to release the connection between the collision object and the flying object by the collision object connection unit in response to the fact that the distance is less than or less than this value.

（２）
（ｍは、衝突体の質量、飛翔体の質量、及び、衝突体及び飛翔体が弾性体保持部による弾性体を介した制限を受けながら被衝突体に向かって移動しているときに衝突体及び飛翔体と一体となって移動する全ての要素の質量の合計を表わす。ｇは重力加速度を表す。ｈ₀は、衝突体及び飛翔体が被衝突体に向かって移動を開始した時点での、被衝突体上の衝突面に対する衝突体の高さを表わす。ｌ_pは、飛翔体接続部が所定位置にあるときの、弾性体の伸びを表わす。ｌ_stは、飛翔体接続部が所定位置にあるときの、先行衝突体に対する衝突体の高さを表わす。）
に基づいて決定されたばね定数ｋ_sを有するばねを用いてよい。上記式（２）を満たすばね定数ｋ_sを有するばねを用いれば、後述のとおり、衝突体における衝突後の跳ね返りを最小化することが可能となる。ただし、ばね定数ｋ_sが上記式（２）を厳密に満たすことは必須ではない。個々の実施態様において許容可能な跳ね返りの程度、製造技術上実現可能な実際のばね定数値の精度等に応じて、弾性体の剛性は任意に選択可能である。 In the system of the second invention, the elastic body has the following formula:

(2)
(M is the collision body when the collision body, the mass of the flying body, and the collision body and the flying body are moving toward the collision target while being restricted by the elastic body holding portion through the elastic body. Represents the total mass of all the elements that move together with the flying object, g represents gravitational acceleration, and h ₀ represents the time when the collision object and the flying object start moving toward the collision object. Represents the height of the collision object with respect to the collision surface on the collision object, l _p represents the elongation of the elastic body when the flying object connection portion is at a predetermined position, and l _st represents the predetermined value of the flying object connection portion. (Indicates the height of the collision object relative to the preceding collision object when in position.)
A spring having a spring constant k _s determined based on can be used. If a spring having a spring constant k _s satisfying the above equation (2) is used, it is possible to minimize the rebound after the collision in the collision body as will be described later. However, it is not essential that the spring constant k _s strictly satisfies the above formula (2). The rigidity of the elastic body can be arbitrarily selected according to the degree of bounce allowable in each embodiment, the accuracy of the actual spring constant value that can be realized in the manufacturing technology, and the like.

  In the system of the second aspect of the present invention, the elongation of the elastic body (hereinafter referred to as “the length of pre-extension” in the second aspect of the present invention) when the flying object connecting portion is at the predetermined position is a predetermined value or more. It can be or be greater than a predetermined value. As will be described later, in the system of the second invention of the present invention, by increasing the length of the pre-extension, the acceleration at the time of separation of the collision object can be made smaller than the acceleration in the first invention of the present invention. However, because the length of the pre-extension cannot normally be increased without limitation due to the size limit of the system, etc., a predetermined value that can be realized in each embodiment is set, and the length of the pre-extension beyond this is exceeded. It is preferable to ensure.

In the system of the second invention, the height of the collision object relative to the preceding collision object when the flying object connection part is at a predetermined position (hereinafter referred to as the “stroke length” of the elastic body in the second invention). It can be greater than or equal to a predetermined value. As will be described later, also in the system according to the second aspect of the present invention, the acceleration at the time of separation of the collision object can be reduced by increasing the stroke length. However, because the stroke length cannot normally be increased without limitation due to system size limitations, it is preferable to set a predetermined value that can be realized in each embodiment and to secure a stroke length that is greater than or equal to this value. Hereinafter, in the second invention, a design in which the spring constant k _s is determined so as to satisfy the expression (2) and the length of the pre-extension and the stroke length are made as large as possible is referred to as “optimal design” in the second invention. Sometimes called.

  Furthermore, the present invention relates to a method for alleviating an impact when a collision object collides with a collided object and reducing a rebound after the collision, wherein the flying object connecting portion mechanically connects the flying object and the elastic body. So that the mechanical energy can be transmitted, and the collision object connecting part connects the flying object and the collision object so that the mechanical energy can be transmitted, and the flying object connection part is connected to the elastic body holding part of the preceding collision object. The elastic body holding portion configured to prevent the movement of the flying body and the collision body toward the collision object is elastically held by the elastic body holding section configured to prevent the movement of the flying body and the collision body. The stage where the preceding collision part of the preceding collision body collides with the collided body while restricting through the body, and after the preceding collision part collides with the colliding body, the flying object and the colliding body are restricted via the elastic body. Flying by moving toward the impacted body while receiving When at least a part of the mechanical energy of the collision body is converted into the potential energy of the elastic body, the connection between the collision body and the flying body by the collision body connection portion is released, and at least a part of the mechanical energy The collision body that has lost the collision is collided with the collision object, and after the connection between the collision object and the flying object is released by the collision object connection part, at least a part of the potential energy of the elastic body through the flying object connection part Is converted to the mechanical energy of the flying object, and the step of injecting the flying object is provided (method of the second invention of the present invention).

  In the method of the second aspect of the present invention, in response to the release of the connection between the collision object and the flying object by the collision object connection unit, the magnitude of the velocity of the collision object with respect to the collision object becomes a predetermined value or less, Alternatively, it can be performed in response to being below a predetermined value. As described above, an appropriate predetermined value related to the speed magnitude is set according to each embodiment, and in response to the magnitude of the speed becoming lower or lower, the collision object connection It is preferable to release the connection between the collision object and the flying object by the unit.

In the method of the second aspect of the present invention, a spring having a spring constant k _s determined based on the above equation (2) may be used as the elastic body. If a spring having a spring constant k _s satisfying the above equation (2) is used, it is possible to minimize the rebound after the collision in the collision body as will be described later. As already mentioned, it is not essential that the spring constant k _s strictly satisfies the above formula (2). The rigidity of the elastic body can be arbitrarily selected according to the degree of bounce allowable in each embodiment, the accuracy of the actual spring constant value that can be realized in the manufacturing technology, and the like.

  Also in the method according to the second aspect of the present invention, when the flying object connecting portion is in a predetermined position, the elongation of the elastic body (the length of pre-extension) may be greater than or equal to a predetermined value. Is possible. As described above, it is preferable to set a predetermined value that can be realized in each embodiment, and to secure a length of pre-extension beyond this value.

  Also in the method of the second invention, the height (stroke length) of the collision object relative to the preceding collision object when the flying object connection portion is at the predetermined position is greater than or equal to the predetermined value. It is possible. As already described, it is preferable to set a predetermined value that can be realized in each embodiment and to secure a stroke length that is greater than or equal to this value.

  The present invention also relates to a system for alleviating an impact when a collision object collides with a collision object and reducing a rebound after the collision, the collision object, a flying object, an elastic body, and an elastic body. Connecting the flying object and the flying object so that the mechanical energy can be transmitted, and connecting the flying object and the flying object so that the mechanical energy can be transmitted. The flying object connected to the elastic body by the flying object connecting part and the collision object connected to the flying object by the collision object connecting part are restricted to move toward the collision object via the elastic body. An elastic body holding portion configured to be configured to include a plurality of first movable leg portions slidably connected to the elastic body holding portion, and a plurality of first movable leg portions. A first restraining mechanism configured to prevent sliding with respect to the elastic body holding portion. The second preceding collision portion including a plurality of second movable legs slidably connected to the collision body, and configured to prevent sliding of the plurality of second movable leg portions with respect to the collision body. And a second restraining mechanism, and the plurality of first movable legs are sequentially slid against the elastic body holding part after colliding with the collision object, and all of the plurality of first movable legs are subjected to collision. After the collision with the body, the first restraining mechanism prevents the plurality of first movable leg portions from sliding on the elastic body holding portion, and the flying body and the collision body restrict the elastic body holding portion via the elastic body. By moving toward the collision object while receiving, at least a part of the mechanical energy of the flying object and the collision object is converted into the potential energy of the elastic body, and the plurality of second movable legs are sequentially applied to the collision object. After sliding against the collision body, all of the plurality of second movable legs are all subjected to the collision object. After the collision, the connection between the collision object and the flying object by the collision object connecting part is released, and the second restraining mechanism prevents the plurality of second movable leg parts from sliding on the collision object, and also through the flying object connection part. Thus, a system characterized in that at least a part of the potential energy of the elastic body is converted into the mechanical energy of the flying body and the flying body is ejected is provided (the system of the third aspect of the present invention).

  In the system according to the third aspect of the present invention, the first restraining mechanism is provided as an occlusion member that can be engaged with any one of the plurality of first movable legs, and a plurality of first occlusion members, and a plurality of first occlusion members A plurality of first restraining springs, a plurality of first restraining springs, and a plurality of first occlusion members each provided as a restraining spring connected between any one of the occlusal members and the elastic body holding portion are elastic bodies A plurality of first restraining wires that are fixed to the holding portion, a plurality of pin members that fix the plurality of first restraining wires, and a gear member that moves any one of the plurality of pin members by a rotational motion. A plurality of gear members, and each of the plurality of first movable legs slides relative to the elastic body holding portion, whereby each of the plurality of gear members rotates, Each of the plurality of pin members is moved. By doing so, the fixing of each of the plurality of first restraining wires by each of the plurality of pin members is released, and by releasing the fixing of each of the plurality of first restraining wires, a plurality of by the plurality of first restraining wires The first restraining spring and the plurality of first occlusion members are released from the fixing to the elastic body holding portion, and the plurality of first occlusion members released from the fixing are released from the plurality of first restraining springs. By engaging with each of the plurality of first movable legs by each elastic force, it is possible to prevent the plurality of first movable legs from sliding on the elastic body holding portion.

  In the system according to the third aspect of the present invention, the second restraining mechanism is provided as an occlusion member that can be engaged with any one of the plurality of second movable legs, and a plurality of second occlusion members and a plurality of second occlusion members. A plurality of second restraint springs, a plurality of second restraint springs and a plurality of second articulation members, each provided as a restraint spring connected between any one of the occlusal members and the impactor A plurality of second restraining wires to be fixed and a plurality of second restraining wire fixing portions provided at the collision body connecting portion to fix the plurality of second restraining wires, and the flying body and the collision body are elastic bodies. By moving toward the impacted body while being restricted by the holding portion via the elastic body, the elastic body is extended while sliding the plurality of second movable leg portions with respect to the collision body, When the expansion stops and the shortening starts, Each of the plurality of second restraining wires is released by releasing the connection between the collision body and the flying body by the body connecting portion and releasing each of the plurality of second restraining wires by each of the plurality of second restraining wire fixing portions. The plurality of second occlusion members released from the fixation by releasing the fixation of the plurality of second restraining springs and the plurality of second occlusion members to the collision body by the plurality of second restraining wires Each of which engages with each of the plurality of second movable legs by the elastic force of each of the plurality of second restraining springs that have been released, thereby allowing the plurality of second movable legs to slide with respect to the collision body. Can be configured to block.

  In the system according to the third aspect of the present invention, the first restraining mechanism includes a plurality of first restraining actuators, and each of the plurality of first restraining actuators includes a plurality of first movable legs. It can comprise so that the force of the direction along the sliding with respect to the elastic body holding part by each part may be applied.

  In the system according to the third aspect of the present invention, the second restraining mechanism includes a plurality of second restraining actuators, and each of the plurality of second restraining actuators includes a plurality of second movable legs. It can comprise so that the force of the direction along the sliding with respect to the collision body by each of a part may be applied.

  The system according to the third aspect of the present invention may further include a guide rail for guiding the flying object, and may be configured to control the emission direction of the flying object by injecting the flying object in a direction guided by the guidance rail.

  The system according to the third aspect of the present invention including the guide rail further includes a rail control actuator for driving the guide rail, and driving the guide rail by the rail control actuator allows the injection of the flying object guided by the guide rail. It can be configured to select a direction.

  The present invention also relates to a method for alleviating impact when a collision object collides with a colliding object and reducing rebound after the collision, wherein the flying object connecting portion mechanically connects the flying object and the elastic body. By connecting so that the mechanical energy can be transmitted, the collision body connecting portion connecting the flying body and the collision body so that the mechanical energy can be transmitted, and the elastic body holding portion holding the elastic body, A plurality of first movable legs connected to the elastic body holding portion in a slidable manner in order while restricting the flying body and the collision body from moving toward the collision target body through the elastic body, The first restraining mechanism has a plurality of first movable legs after colliding with the colliding body and sliding with respect to the elastic body holding portion, and after all of the plurality of first movable leg portions collide with the colliding body. The step of preventing the sliding of the part with respect to the elastic body holding part and the flying body and the collision body are caused by the elastic body holding part. Converting at least a part of the mechanical energy of the flying object and the collision object into the potential energy of the elastic object by moving toward the collision object while being restricted by the elastic object; The plurality of second movable legs connected in a slidable manner sequentially collide with the colliding body and slide with respect to the colliding body, and all of the plurality of second movable leg sections become the colliding body. After the collision, the connection between the collision object and the flying object by the collision object connecting part is released, and the second restraining mechanism prevents the plurality of second movable leg parts from sliding on the collision object, and the flying object connection part is A method of converting at least part of the potential energy of the elastic body into mechanical energy of the flying body and injecting the flying body (method of the third invention of the present invention) .

  In the method of the third aspect of the present invention, the step of the first restraining mechanism preventing the sliding of the plurality of first movable legs with respect to the elastic body holding portion includes fixing the plurality of first restraining wires by the plurality of pin members, A plurality of first occlusion members each provided as an occlusion member that can be engaged with any one of the plurality of first movable legs, and any one of the plurality of first occlusion members; From a state in which a plurality of first restraining springs each provided as a restraining spring connected to the elastic body holding portion are fixed to the elastic body holding portion, each of the plurality of first movable leg portions A step of rotating each of the plurality of gear members by sliding with respect to the elastic body holding portion, and a plurality of gear members moving each of the plurality of pin members by rotating the plurality of pin members. A plurality of first fixed by each of the members; The step of releasing the fixation of each of the bundle wires, and releasing the fixation of each of the plurality of first restriction wires, thereby allowing the plurality of first restriction springs and the plurality of first occlusion members to be formed by the plurality of first restriction wires. The step of releasing the fixing to the elastic body holding portion, and the plurality of first occlusion members that have been released from the fixing are released by the elastic force of each of the plurality of first restraining springs that are released from the fixing. By engaging with each of the leg portions, a step of preventing sliding of the plurality of first movable leg portions with respect to the elastic body holding portion can be provided.

  The stage in which the second restraining mechanism prevents the plurality of second movable leg portions from sliding relative to the colliding body is configured such that the plurality of second restraining wire fixing portions provided at the collision body connecting portion fix the plurality of second restraining wires. Any one of a plurality of second occlusion members and a plurality of second occlusion members, each of which is provided as an occlusion member that can be engaged with any one of a plurality of second movable legs. From the state in which a plurality of second restraining springs, each of which is provided as a restraining spring connected between the two and the collision body, are fixed to the collision body, the flying body and the collision body are caused by the elastic body holding portion. By moving toward the impacted body while being restricted by the elastic body, the elastic body expands after the elastic body expands while sliding the plurality of second movable legs with respect to the collision body. At the timing to stop and start shortening, depending on the collision object connection The step of releasing the connection between the projecting body and the flying body, releasing the fixation of each of the plurality of second restriction wires by each of the plurality of second restriction wire fixing portions, and fixing each of the plurality of second restriction wires By releasing the fixing of the plurality of second restraining springs and the plurality of second occlusion members with respect to the collision body by the plurality of second restraining wires, and the plurality of second occlusion members released from the fixing Each of which engages with each of the plurality of second movable legs by the elastic force of each of the plurality of second restraining springs that have been released, thereby allowing the plurality of second movable legs to slide with respect to the collision body. And the step of blocking.

  The step of the first restraining mechanism preventing the sliding of the plurality of first movable legs with respect to the elastic body holding part is performed by each of the plurality of first restraining actuators to each of the plurality of first movable legs. A step of applying a force in a direction along sliding with respect to the elastic body holding portion by each of the movable leg portions can be provided.

  The stage in which the second restraining mechanism prevents the plurality of second movable leg portions from sliding relative to the collision body is performed by each of the plurality of second movable leg portions by each of the plurality of second restraint actuators. A step of applying a force in a direction along sliding with respect to the collision body by each of the leg portions may be provided.

  The step of injecting the flying object can be a step of injecting the flying object by controlling the injection direction of the flying object by guiding the flying object by the guide rail and injecting the flying object in the direction guided by the guide rail. .

  In the method of the third invention using the guide rail, the step of injecting the flying object is performed by selecting the injection direction of the flying object guided by the guide rail by driving the guide rail by the rail control actuator. It can be a stage to do.

  In the present invention, the following effects not obtained in the prior art can be obtained.

  A. In the present invention, collision can be performed without causing plastic deformation, and the system can be reused even after being used once. Therefore, after testing on the ground and confirming the operation, it can be used again on site, so it is more reliable than a honeycomb crash. In addition, since it is highly robust against changes in environmental conditions, redundancy for improving reliability is not necessary, and costs can be reduced.

  B. In the present invention, since it is not necessary to inject the fluid to the object to be collided, it is possible to reduce damage and contamination of the object to be collided compared to reverse injection. Moreover, even if the powder adheres to the surface of the object to be collided, the winding can be suppressed as compared with the reverse injection.

  C. In the case of the conventional method of exchanging momentum, if the ejected object does not have a certain mass, an actuator for high-speed injection is separately required. However, since the principle used by the present invention for reducing the impact and the bounce is energy conversion, the impact and the bounce can be reduced with sufficient performance even if the injection mass is reduced.

  D. The amount of operation to be controlled in the present invention is only the direction of the rail tip (the present invention can also be implemented without using the rail), which can be pointed in advance. This eliminates the need for a high-speed calculation processing device that is necessary in the conventional method. As a result, the injection direction of the slave unit can be easily controlled, and the danger given to the surroundings can be reduced as compared with the method based on the momentum exchange.

  E. The present invention can reduce the rebound even with a soft impacted object, and is superior to the landing mechanism of a vertical take-off and landing aircraft in this respect. In other words, the present invention has high robustness that does not depend on the characteristics of the collided object.

  F. The present invention can exhibit good performance by appropriately designing the parameters of the shock absorbing spring of the proposed mechanism.

  G. In the present invention, the length of the movable leg portion can be changed along the height difference of the collision surface when the collision object collides with the collision target object having an uneven surface. Then, since a reaction force equal to all the legs is generated, the rotational moment is greatly reduced. Therefore, it is possible to exhibit the performance of suppressing impact, rebound, and rotational motion as in the case of a collision with a flat surface.

  H. According to the present invention, the length of the movable leg portion can be changed along the height difference of the collision surface when the collision object collides with the collision target object having an inclination on the collision surface. Then, since a reaction force equal to all the legs is generated, the rotational moment is greatly reduced. Therefore, it is possible to exhibit the performance of suppressing impact, rebound, and rotational motion as in the case of a collision with a flat surface.

  I. In the present invention, the length of the movable leg portion can be changed along the height difference of the collision surface when the collision object collides with the collision target object having an uneven surface. Then, since a reaction force equal to all the legs is generated, the rotational moment is greatly reduced. Therefore, the collision object can be maintained in the posture at the time of the collision.

  J. et al. According to the present invention, the length of the movable leg portion can be changed along the height difference of the collision surface when the collision object collides with the collision target object having an inclination on the collision surface. Then, since a reaction force equal to all the legs is generated, the rotational moment is greatly reduced. Therefore, the collision object can be maintained in the posture at the time of the collision.

  K. The fluctuation of the separation height of the main unit due to the fluctuation of the parameters of the shock absorbing spring causes a decrease in performance. In the present invention, since the movable leg part at the lower part of the parent machine compensates for the difference in the separation height of the parent machine, it is possible to exhibit a performance that is robust against fluctuations in the parameters of the shock absorbing spring.

The block diagram of the impact relaxation and the bounce reduction system 100 which concerns on 1st embodiment of this 1st invention. The top view of the impact relaxation and the bounce reduction system 100 which concerns on 1st embodiment of this 1st invention. The top view of the impact mitigation and bounce reduction system 200 which concerns on 2nd embodiment of this 1st invention. The figure which shows the operation | movement at the time of a collision (at the time of the collision of the leg part 105) of the impact relaxation and the bounce reduction system 100 shown in FIG. The figure which shows the operation | movement at the time of a collision (when the main | base station 101 and the impact-absorbing spring 102 are connected after the collision of the leg part 105) of the impact mitigation and bounce reduction system 100 shown by FIG. The figure which shows the operation | movement at the time of a collision (at the time of the connection cancellation | release of the main | base station 101 and the impact-absorbing spring 102) of the impact mitigation and bounce reduction system 100 shown by FIG. The figure which shows the operation | movement at the time of a collision (at the time of guidance | induction of the subunit | mobile_unit 106 after the disconnection of the main | base station 101 and the impact-absorbing spring 102) of the impact mitigation and bounce reduction system 100 shown by FIG. The figure which shows the operation | movement at the time of a collision (at the time of guidance | induction of the subunit | mobile_unit 106 after the disconnection of the main | base station 101 and the impact-absorbing spring 102) of the impact mitigation and bounce reduction system 100 shown by FIG. The figure which shows the operation | movement at the time of a collision (at the time of injection | emission of the subunit | mobile_unit 106) of the impact mitigation and the bounce reduction system 100 shown by FIG. Using the impact mitigation and bounce reduction system 100 shown in FIG. 1, the relationship between the bounce height after collision and the mounted mass when the base unit 101 having a mass of 3.0 kg is dropped from a height of 0.5 m on the ground is shown. Graph showing. The graph which shows the relationship between the bounce height after a collision, and the mounted mass at the time of dropping the main | base station of mass 3.0kg from the height of 0.5 m on the ground using the method by momentum exchange shown in FIG. Using the impact mitigation and bounce reduction system 100 shown in FIG. 1, the bounce height after collision and the rigidity of the object to be collided when a base unit 101 having a mass of 3.0 kg is dropped from a height of 0.5 m on the ground. The graph which shows the relationship. Using the landing mechanism of the vertical take-off and landing aircraft disclosed in Patent Document 3, the height of the bounce after collision and the rigidity of the impacted object when a master aircraft with a mass of 3.0 kg is dropped from a height of 0.5 m on the ground. A graph showing the relationship. Experiment using the impact mitigation and bounce reduction system 100 shown in FIG. 1 to measure the height of the master unit relative to the measurement start point and the acceleration in the direction perpendicular to the sponge surface when the master unit collides with the sponge. The graph which shows a result. The graph which shows the experimental result which measured the height with respect to the measurement start point of a main | base station, and the acceleration of a direction perpendicular | vertical to a sponge surface at the time of making only a main | base station collide with sponge. The block diagram of the impact relaxation and the bounce reduction system 200 which concerns on 2nd embodiment of this 1st invention. This corresponds to the state before the collision of the leg 205 at the time of the collision. The figure which shows the operation | movement at the time of the collision (after the collision of the leg part 205, at the time of restraint cancellation | release with respect to the impact-absorbing-spring holding part 204 of the main | base station 201) of the impact mitigation and bounce reduction system 200 shown in FIG. The figure which shows the operation | movement at the time of a collision (at the time of the connection cancellation | release of the main | base station 201 and the impact-absorbing spring 202) of the impact mitigation and bounce reduction system 200 shown in FIG. The figure which shows the operation | movement at the time of a collision (after disconnection of the main | base station 201 and the impact-absorbing spring 202) of the impact mitigation and bounce reduction system 200 shown in FIG. The conceptual diagram of the honeycomb crush of a nonpatent literature 1. The conceptual diagram of the reverse injection system of patent document 1. FIG. The conceptual diagram of the airbag of patent document 2. FIG. The conceptual diagram of the method by the momentum exchange of a nonpatent literature 2. FIG. The conceptual diagram of the active leg of a nonpatent literature 3. FIG. In the impact mitigation and bounce reduction system 100 shown in FIG. 1, when the shock absorbing spring 102 has a natural length of 1 _ns , the preceding collision body (the shock absorbing spring holding portion 104 and the four leg portions 105 are integrally formed. The stroke length _lst defined as the height of the main unit 101 with respect to Graph showing computer simulation results for the relationship between soft landing performance (maximum bounce height of base unit 101) and stroke length (broken line: spring constant is 50% of proper value, bold line: spring constant is proper value, thin line: spring The constant is 150% of the appropriate value). A graph showing the result of computer simulation of the relationship between the soft landing performance (maximum acceleration of the base unit 101) and the stroke length (broken line: spring constant is 50% of the appropriate value, bold line: spring constant is the appropriate value, thin line: spring constant is 150% of the appropriate value). A graph showing the results of computer simulation of robustness against change in separation delay (maximum bounce height of base unit 101) (broken line: stroke length is 0.1 m, thin line: stroke length is 0.2 m, thick line: stroke length) Is 0.3 m). A graph showing computer simulation results for robustness against change in separation delay (maximum acceleration of base unit 101) (broken line: stroke length is 0.1 m, thin line: stroke length is 0.2 m, thick line: stroke length is 0) .3m). The block diagram of the impact relaxation and bounce reduction system 1000 based on this 2nd invention. The figure for demonstrating visually a design variable about the impact relaxation and the bounce reduction system which concern on each of this 1st invention and 2nd invention. The top view of the impact relaxation and bounce reduction system 1000 based on this 2nd invention. The figure which shows the operation | movement at the time of a collision (at the time of the collision of the leg part 1005) of the impact relaxation and the bounce reduction system 1000 shown in FIG. The impact mitigation and rebound reduction system 1000 shown in FIG. 24 operates at the time of collision (when the base unit 1001 and the slave unit 1006 and the slave unit 1006 and the shock absorbing spring 1002 are connected after the collision of the leg 1005). FIG. The figure which shows the operation | movement at the time of a collision (at the time of disconnection of the main | base station 1001 and the subunit | mobile_unit 1006) of the impact mitigation and the bounce reduction system 1000 shown in FIG. The figure which shows the operation | movement at the time of a collision (at the time of guidance | induction of the subunit | mobile_unit 1006 after disconnection of the main | base station 1001 and the subunit | mobile_unit 1006) of the impact mitigation and the bounce reduction system 1000 shown in FIG. The figure which shows the operation | movement at the time of a collision (at the time of the connection cancellation | release of the subunit | mobile_unit 1006 and the impact-absorbing spring 1002) of the impact mitigation and bounce reduction system 1000 shown in FIG. The figure which shows the operation | movement at the time of a collision (at the time of injection | emission of the subunit | mobile_unit 1006) of the impact relaxation and the bounce reduction system 1000 shown in FIG. Graph showing computer simulation results for the relationship between soft landing performance (maximum bounce height of base unit 1001) and length of pre-extension (dashed line: spring constant is 50% of appropriate value, bold line: spring constant is appropriate value, thin line) : The spring constant is 150% of the appropriate value). Graph showing computer simulation results for the relationship between soft landing performance (maximum acceleration of base unit 1001) and the length of pre-extension (broken line: spring constant is 50% of proper value, bold line: spring constant is proper value, thin line: spring The constant is 150% of the appropriate value). Graph showing the results of computer simulation of the relationship between the soft landing performance (maximum bounce height of base unit 1001) and separation delay (dashed line: stroke length is 0 m, fine line: stroke length is 0.5 m, thick line: stroke length is 2.0 m). A graph showing the result of computer simulation regarding the relationship between the soft landing performance (maximum acceleration of the base unit 1001) and the separation delay (broken line: stroke length is 0 m, thin line: stroke length is 0.5 m, thick line: stroke length is 2. 0m). The figure for demonstrating the concept of a telescopic leg mechanism (a telescopic leg is a movable state). The figure for demonstrating the concept of an expansion-contraction leg mechanism (an expansion-contraction leg is a restrained state). The figure which shows the outline | summary of operation | movement of a non-expandable leg mechanism. The figure which shows the outline | summary of operation | movement of an expansion-contraction leg mechanism (before a collision). The figure which shows the outline | summary of operation | movement of an expansion-contraction leg mechanism (at the time of a 1st movable leg part collision). The figure which shows the outline | summary of operation | movement of an expansion-contraction leg mechanism (at the time of a collision of a 2nd movable leg part). The figure which shows the outline | summary of operation | movement of an expansion-contraction leg mechanism (at the time of isolation | separation of a main | base station and a subunit | mobile_unit). The figure which shows the outline | summary of operation | movement of an expansion-contraction leg mechanism (at the time of injection | emission of a subunit | mobile_unit). The figure which shows the outline | summary of operation | movement when a non-extensible leg mechanism landed in the place with a level | step difference. The figure which shows the outline | summary of operation | movement when a telescopic leg mechanism landed in the place with a level | step difference (before a collision). The figure which shows the outline | summary of operation | movement when an expansion-contraction leg mechanism landed in the place with a level | step difference (when some 1st movable leg parts collided). The figure which shows the outline | summary of operation | movement when an expansion-contraction leg mechanism landed in the place with a level | step difference (when all the 1st movable leg parts collided). The figure which shows the outline | summary of operation | movement when an expansion-contraction leg mechanism landed in the place with a level | step difference (when a 2nd movable leg part collides). The figure which shows the outline | summary of operation | movement when the expansion-contraction leg mechanism landed in the place with a level | step difference (at the time of isolation | separation of a main | base station and a subunit | mobile_unit). FIG. 6 is a schematic diagram when early separation timing is compensated by a restraining actuator. FIG. 5 is a schematic diagram when a delay in separation timing is compensated by a restraining actuator. The figure which shows the vibration of a leg part when a non-extensible leg mechanism land | falls on the hard ground. The figure which shows operation | movement when the vibration of a leg part is suppressed by the restraint actuator in an expansion-contraction leg mechanism. The graph which compared the computer simulation result of the maximum bounce height of the main | base station when spring rigidity fluctuates in a non-extensible leg mechanism and a telescopic leg mechanism. The graph which compared the computer simulation result of the maximum acceleration added to a main | base station when spring rigidity fluctuates in a non-extensible leg mechanism and a telescopic leg mechanism. The graph which compared the computer simulation result of the maximum rebound height of a main | base station when the height of a level | step difference fluctuates in a non-extensible leg mechanism and a telescopic leg mechanism. The graph which compared the computer simulation result of the maximum acceleration added to a main | base station when the height of a level | step difference fluctuates in a non-extensible leg mechanism and a telescopic leg mechanism. The graph which compared the computer simulation result of the maximum rotation angle of a main | base station when the height of a level | step difference fluctuates in a non-extensible leg mechanism and a telescopic leg mechanism. The graph which compared the computer simulation result of the maximum bounce height of the main | base station when the inclination of the slope where it lands fluctuates in a non-extensible leg mechanism and a telescopic leg mechanism. The graph which compared the computer simulation result of the maximum acceleration added to a main | base station when the inclination of the slope where it lands fluctuates in a non-extensible leg mechanism and a telescopic leg mechanism. The graph which compared the computer simulation result of the maximum rotation angle of a main machine when the inclination of the slope where it lands fluctuates in a non-extensible leg mechanism and a telescopic leg mechanism. The graph which compared the computer simulation result of the maximum bounce height of the main | base station when the restraint of an expansion-contraction leg is late in an expansion-contraction leg mechanism. The graph which compared the computer simulation result of the maximum acceleration of a main | base station when the restriction | contraction of an expansion-contraction leg is late in an expansion-contraction leg mechanism. The schematic diagram which shows the structure which provided the stopper in the movable leg part as a countermeasure when the restraint of an expansion-contraction leg is overdue. The block diagram of the impact absorption and the bounce reduction system 2000 based on this 3rd invention. The figure which shows the component of the shock absorption and the bounce reduction system 2000. FIG. The figure which shows the component of the shock absorption and the bounce reduction system 2000. FIG. The figure which shows the structure of the main-body part of the shock absorption and the bounce reduction system 2000. FIG. The figure which shows operation | movement of the fixing device 2003 attached to the main | base station 2001. FIG. The figure which shows the installation aspect of the rail 2008 with respect to the subunit | mobile_unit 2006. FIG. The figure which shows the 1st movable leg part 2005 and the slider part 2005-1. The figure which shows restraint wires 2015E and 2016E. The figure (1) which shows the assembly order of the shock absorption and the bounce reduction system 2000. The figure (2) which shows the assembly order of the shock absorption and the bounce reduction system 2000. FIG. 3 is a diagram (3) showing an assembly sequence of the shock absorption and bounce reduction system 2000. The figure (4) which shows the assembly order of the shock absorption and the bounce reduction system 2000. The figure (5) which shows the assembly order of the shock absorption and the bounce reduction system 2000. The figure (6) which shows the assembly order of the shock absorption and the bounce reduction system 2000. FIG. 71 is a diagram showing details of the restraining wire arrangement fixed at the time of FIG. 70. The figure which shows the state which one restraint wire removed. The figure which shows the state from which two restraining wires removed. The figure which shows the state from which three restraining wires removed. The figure which shows the state from which all the restraining wires removed. The figure (7) which shows the assembly order of the shock absorption and the bounce reduction system 2000. FIG. 8 shows an assembly sequence of the shock absorption and bounce reduction system 2000. The figure (9) which shows the assembly order of the shock absorption and the bounce reduction system 2000. The figure (10) which shows the assembly order of the shock absorption and the bounce reduction system 2000. The figure which shows the operation | movement order of the shock absorption and bounce reduction system 2000 (1). The figure (2) which shows the operation order of shock absorption and the bounce reduction system 2000. FIG. 3 is a diagram (3) showing an operation sequence of the shock absorption and bounce reduction system 2000. FIG. 4 is a diagram (4) illustrating an operation sequence of the shock absorption and bounce reduction system 2000. FIG. 5 is a diagram showing an operation sequence of the shock absorption and bounce reduction system 2000 (5). FIG. 6 is a diagram (6) showing an operation sequence of the shock absorption and bounce reduction system 2000; FIG. 7 is a diagram (7) showing an operation sequence of the shock absorption and bounce reduction system 2000; FIG. 8 is a diagram illustrating an operation sequence of the shock absorption and bounce reduction system 2000 (8). FIG. 9 is a diagram (9) showing an operation sequence of the shock absorption and bounce reduction system 2000. FIG. 10 is a diagram (10) illustrating an operation sequence of the shock absorption and bounce reduction system 2000; FIG. 11 is a diagram (11) illustrating an operation sequence of the shock absorption and bounce reduction system 2000.

  Embodiments of an impact mitigation and bounce reduction system and method according to the present invention will now be described with reference to the drawings. However, the impact mitigation and bounce reduction system and method according to the present invention are not limited to specific specific configurations and operations shown in the drawings and related descriptions, and are appropriately within the scope of the present invention. It can be changed. For example, the number of (movable) legs is not limited to four and may be any number. Each drawing is a conceptual diagram for explaining the principle of the present invention, and individual elements in the drawing are appropriately enlarged or reduced for the purpose of making them easy to see.

FIG. 1 is a block diagram of an impact mitigation and bounce reduction system 100 according to the first embodiment of the present invention, and FIG. 2a shows an impact mitigation and bounce reduction system 100 in FIG. It is a top view when it sees in the arrow direction inside. 2A corresponds to FIG. 1 when the cross section obtained by moving the AA ′ line in the downward direction on the page is viewed in the direction of the arrow in FIG. 2A.

  The shock mitigation and bounce reduction system 100 includes a master unit 101, a shock absorbing spring 102, a fixing device 103, a shock absorbing spring holding unit 104, four legs 105, a slave unit 106, a slave unit installation unit 107, a rail 108, and a wire 109. Is provided. In one example, the main aircraft 101 is a planetary lander, the slave device 106 is a planetary explorer, and the impact mitigation and bounce reduction system 100 constitutes a planetary lander as a whole. The bounce reduction system can be used for various other purposes.

  In the shock relaxation and bounce reduction system 100, the shock absorbing spring holding portion 104 of the preceding collision body formed integrally with the shock absorbing spring holding portion 104 and the four leg portions 105 (see FIG. 2a) is shocked. The absorption spring 102 is held by means such as welding one end thereof, and the other end of the shock absorption spring 102 is holding the child device installation portion 107 by means of welding or the like. On the top, the slave unit 106 is installed by suspending one end thereof, and the master unit 101 is fixed by hooking the fixing device 103 to the other end of the slave unit 106. With such a configuration, the base unit 101 and the preceding collision body are connected in a state where the base unit 101 can move in the direction of the arrow in FIG. 1 and in the opposite direction while being limited by the shock absorbing spring 102. Yes. It should be noted that the fixing state of the parent device 101 and the child device 106 by the fixing device 103 can be arbitrarily released by an actuator or the like not shown.

  The rail 108 passes through the central axis of the slave unit 106 and extends beyond the slave unit injection port 110 as shown in FIGS. The slave unit 106 can move along the rail 108 apart from the slave unit installation unit 107 in a state where the fixation by the fixing device 103 is released. The rail 108 has a structure that can tilt with a predetermined position as a fulcrum (see FIG. 6), and one end of the rail 108 is connected to a wire 109. By pulling the wire 109 with an actuator (not shown), the rail 108 can be tilted with the predetermined position as a fulcrum to bend the moving path of the slave unit 106. As a result, by adjusting the vertical (pitch) emission angle of the slave unit 106 (the elevation angle when the collision surface of the colliding object 300 is a horizontal plane), the linear distance from the injection position of the slave unit 106 to the arrival position is adjusted. Can be controlled. Moreover, the azimuth angle of the subunit | mobile_unit 106 can be adjusted by rotating the rail 108 bent beforehand about the axis | shaft (refer FIG. 6). That is, when the collision surface of the collision target object 300 is a horizontal plane, the arrival position of the slave unit 106 can be controlled by adjusting the injection direction in the horizontal plane. In order to prevent the wire 109 from hindering the movement of the slave unit 106, it is preferable to scrape one end of the slave unit. Alternatively, the wire 109 may be detachably connected to the rail 108, and the wire 109 may be removed from the rail 108 when the slave unit passes.

Operation of Impact Mitigation and Bounce Reduction System 100 Next, the operation of the impact relaxation and bounce reduction system 100, which is an example of the impact mitigation and bounce reduction method according to the present invention, will be described with reference to FIGS. Before the collision, the slave unit 106 is restrained by the rail 108, the master unit 101 and the slave unit 106 are fixed by the fixing device 103, and the actuator is fixed by the wire 109 so that the tip of the rail 108 is interlocked. Assume that the impact mitigation and bounce reduction system 100 shown in FIG. 1 is configured.

  First, the leg part 105 collides with the colliding object 300 (FIG. 3). When the leg 105 collides with the object to be collided 300, the leg 105 receives a reaction force in the direction opposite to the movement direction so far, so that the speed of the leg 105 is reduced. The leg 105 is in contact with the object to be collided 300 and can no longer move in the direction of travel up to that point.

  On the other hand, since the base unit 101 tries to continue the movement in the traveling direction so far due to inertia, the shock absorbing spring 102 extends as shown in FIG. As the base unit 101 moves toward the colliding object 300 while being limited by the shock absorbing spring 102 and the shock absorbing spring 102 extends, the mechanical energy that the base unit 101 has at the time of collision gradually increases. Into the potential energy of the shock absorbing spring 102.

  In a state where the shock absorbing spring 102 is sufficiently extended, most of the mechanical energy of the parent machine 101 is converted into the potential energy of the shock absorbing spring 102, so that the speed of the parent machine 101 is sufficiently low. Thus, when the shock absorbing spring 102 is sufficiently extended, the fixed state by the fixing device 103 is released using an actuator or the like, and the parent device 101 and the child device 106 are separated (FIG. 5). After the separation of the parent device 101 and the child device 106, the parent device 101 does not receive a force from the shock absorbing spring 102, so that the released parent device 101 is sufficiently decelerated toward the collision object 300. Continue moving. On the other hand, the slave unit 106 receives a force from the shock absorbing spring 102 via the slave unit installation unit 107 and is accelerated in the direction opposite to the traveling direction so far. The slave unit 106 moves toward the slave unit outlet 110 while being guided by the rail 108.

  Here, in order to control the movement trajectory and landing position of the slave unit 106, the wire 109 is pulled by driving the actuator, and the rail 108 is tilted, thereby changing the direction (elevation angle) of the tip of the rail 108 and the actuator. With this driving, the rail 108 is rotated around its axis to change the direction (azimuth angle) of the tip of the rail 108 (FIG. 6). Note that the method of changing the direction of the tip of the rail 108 is not limited to this. For example, the rail 108 may be bent in advance by plastic deformation or the like (this eliminates the need for the wire 109), and the direction of the tip may be changed by rotating the rail 108 (FIG. 7). Such a change in direction may be performed at any timing. For example, when the leg 105 slowly changes the direction of the tip of the rail 108 before the collision with the collision target object 300 and the child device 106 is ejected. It is preferable to stop the changing operation.

  The slave unit 106 moves along the rail 108 toward the slave unit outlet 110. Since the potential energy of the shock absorbing spring 102 is converted into the mechanical energy of the slave unit 106 via the slave unit installation portion 107, the shock absorbing spring 102 contracts. When the shock absorbing spring 102 contracts to the natural length, the handset 106 is released from the shock absorbing spring 102, is separated from the handset installation portion 107, and is ejected toward the tip of the rail 108 (FIG. 8). When the handset 106 passes through the tip of the rail 108, the handset 106 is no longer restrained by the rail 108 and performs a parabolic motion. Further, since the base unit 101 collides with the collision target object 300 from a sufficiently decelerated state, the impact is reduced and the rebound is reduced as compared with the normal collision.

Using the impact mitigation and bounce reduction system 100 shown in FIG. 1, the bounce height after collision and the child machine (flying object) when the base unit 101 having a mass of 3.0 kg is dropped from a height of 0.5 m on the ground. A graph showing the mass relationship is shown in FIG. 9a. For comparison, only the upper part of the method based on the momentum exchange shown in FIG. 19 is used, and the rebound height after the collision when the main unit having a mass of 3.0 kg is dropped from the height of 0.5 m on the ground and the upper side. A graph showing the relationship between the masses of objects flying in the direction is shown in FIG. 9b. The spring constant of the shock absorbing spring 102 and the upper spring used in the method of FIG. 19 was set to 3030 (N / m), the mass of other elements was ignored, computer simulation was performed, and a graph was created. In creating the graph of FIG. 9 a, it is assumed that the handset 106 is injected directly above without using the rail 108. The solid line, dotted line, and alternate long and short dash line in both graphs indicate that the impacted body has a rigidity of 1.0 × 10 ⁴ (N / m), 1.0 × 10 ⁵ (N / m), and 1.0 × 10 ^{3, respectively.} This represents the relationship between the flying object mass (kg) and the maximum rebound height (m) calculated as (N / m). Compared to the method of exchanging momentum, the present invention shows that the rebound is small when the base unit is caused to collide, and in particular, the present invention shows that the rebound can be sufficiently suppressed even if the injection mass is small.

  Similarly, using the impact mitigation and bounce reduction system 100 shown in FIG. 1, the bounce height and impact after collision when the base unit 101 having a mass of 3.0 kg is dropped from a height of 0.5 m on the ground. A graph showing the stiffness relationship of the object 300 is shown in FIG. For comparison, using the landing mechanism of the vertical take-off and landing aircraft disclosed in Patent Document 3, the bounce height after collision and the coverage when a master aircraft with a mass of 3.0 kg is dropped from a height of 0.5 m on the ground. A graph showing the relationship of the rigidity of the collision object is shown in FIG. 10b. However, the graph of FIG. 10a is a result of calculating the maximum rebound height (m) while changing the rigidity (N / m) of the impacted object after fixing the flying object mass to 0.05 (kg). It is a graph which shows. The condition that the spring constant and the rail are not used is the same as the calculation when the graph of FIG. 9A is created. Compared with the landing mechanism of the vertical take-off and landing aircraft disclosed in Patent Document 3, when the base aircraft is caused to collide according to the present invention, even if the impacted object has low rigidity, the rebound is small, and in the present invention, the soft impacted object It was shown that the bounce can be suppressed sufficiently.

  Further, when the base unit 101 is caused to collide with the sponge (collision target object 300) using the impact mitigation and bounce reduction system 100 shown in FIG. The experimental result of measuring the acceleration in the direction perpendicular to is shown in the graph of FIG. 11a. In this experiment, the mass of the main unit 101, the mass of the sub unit 106, and the mass of the preceding collision body formed by integrating the shock absorbing spring holding unit 104 and the leg unit 105 are 3355 g, 56 g, and 762 g, respectively. It is. The shock absorbing spring 102 was formed using four springs having a tension spring constant of 1670 N / m, and the overall spring constant was 6680 N / m. The handset 106 was injected in a direction perpendicular to the sponge surface. For comparison, the graph of FIG. 11b shows the experimental results of measuring the height of the base unit relative to the measurement start point and the acceleration in the direction perpendicular to the sponge surface when only the base unit 101 having the same mass collides with the sponge. Shown in As shown in FIG. 11a, if the impact mitigation and bounce reduction system 100 is used, the bounce of the base unit 101 becomes almost zero, and the acceleration at the time of collision is several minutes compared with the experimental result of FIG. 11b if noise is ignored. It was shown to become 1 of.

Configuration of Impact Mitigation and Bounce Reduction System 200 The present invention can be implemented without using a slave unit. Even in this case, the impact peak is suppressed. In FIG. 12, the block diagram of the impact relaxation and the bounce reduction system 200 which concerns on 2nd embodiment of this invention comprised without using a subunit | mobile_unit is shown. FIG. 2b is a plan view of the shock mitigation and bounce reduction system 200 as seen in the direction of the arrow in FIG. 2B corresponds to FIG. 12 when the section taken along the line AA ′ in FIG. 2B is viewed in the direction of the arrow in FIG. 2B.

  The shock mitigation and bounce reduction system 200 includes a master unit 201, a shock absorbing spring 202, a fixing device 203, a shock absorbing spring holding unit 204, four legs 205, a slave unit installing unit 207, and a rail 208. These elements are the base unit 101, the shock absorbing spring 102, the fixing device 103, the shock absorbing spring holding unit 104, the four legs 105, and the slave unit installed in the shock mitigation and bounce reducing system 100 shown in FIG. Although the element has the same configuration as the section 107 and the rail 108, no slave unit is installed in the slave unit installation unit 207 of the impact mitigation and bounce reduction system 200, and as shown in FIG. In the bounce reduction system 200, the master unit 201 is fixed to the shock absorbing spring 202 by hooking the fixing device 203 to the slave unit installation unit 207 instead of the slave unit. In this embodiment, since the slave unit is not used, the rail 208 may be removed.

  Furthermore, in a configuration that does not use a child device, it is preferable that the parent device 201 is restrained by a restraining device 211 to a preceding collision body that includes the shock absorbing spring holding portion 204 and the leg portion 205. This is because, when not restrained, if the rigidity of the shock absorbing spring 202 is low, the base unit 201 may collide with the collision target object 300 before the leg portion 205. The restraining device 211 includes an expansion / contraction part 212 that expands and contracts under the control of an actuator (not shown). In a state (FIG. 2b, FIG. 12) in which the expansion / contraction part 212 penetrates the opening provided in the base unit guiding part 213 that defines the direction of displacement of the base unit 201 with respect to the preceding collision body, Since the relative movement with the colliding body is impossible, the shock absorbing spring 202 cannot be extended. As will be described later, if the restriction is released when the preceding collision object collides with the object to be collided 300, it is possible to prevent the parent machine 201 from colliding with the object to be collided 300 before the leg portion 205. However, it is not essential to use such a stretchable part 212 as a restraining means, and any means may be used as long as it is a restraining means that can restrain the base unit 201 to the preceding collision body. The restraint device can also be provided in the impact mitigation and bounce reduction system 100 according to the first embodiment. Note that it is not essential to restrain the base unit and the shock absorbing spring by using a restraining device. By appropriately adjusting each parameter in the system, such as the rigidity of the shock absorbing spring and the length of the leg, it is possible to prevent the master unit from colliding with the object to be collided before the leg.

Operation of Impact Mitigation and Bounce Reduction System 200 Next, the operation of the impact mitigation and bounce reduction system 200, which is an example of the impact mitigation and bounce reduction method according to the present invention, will be described with reference to FIGS. Before the collision, the base unit 201 is restrained to the preceding collision body by the restraint device 211 as described above, and the base unit 201 and the handset installation unit 207 are fastened by the fixing device 203, as shown in FIG. It is assumed that an impact mitigation and bounce reduction system 200 is configured. As already described, the restraint by the restraining device 211 may not be performed.

  First, the leg part 205 collides with the colliding object 300 (FIG. 13). When the leg portion 205 collides with the object to be collided 300, the leg portion 205 receives a reaction force in the direction opposite to the movement direction so far, so that the speed of the leg portion 205 is reduced. The leg part 205 is in contact with the object to be collided 300 and can no longer move in the direction of travel so far.

  When the restraint device 211 is used, the restraint by the restraint device 211 is released at this point. Responding to the fact that the speed of base unit 201 suddenly approaches zero is detected by an arbitrary sensor, etc., the expansion / contraction part 212 is contracted by the actuator, and the restriction of the base unit 201 to the preceding collision body is released. (FIG. 13).

  When the restraint is released, the base unit 201 continues to move in the direction of travel up to that time due to inertia, so that the shock absorbing spring 202 extends as shown in FIG. As the base unit 201 moves toward the colliding object 300 while being limited by the shock absorbing spring 202 and the shock absorbing spring 202 extends, the mechanical energy that the base unit 201 has at the time of collision gradually increases. Into the potential energy of the shock absorbing spring 202.

  In a state where the shock absorbing spring 202 is sufficiently extended, most of the mechanical energy of the parent device 201 is converted into the potential energy of the shock absorbing spring 202, so the speed of the parent device 201 is sufficiently small. In this way, when the shock absorbing spring 202 is sufficiently extended, the fixed state by the fixing device 203 is released using an actuator or the like, and the parent device 201 and the shock absorbing spring 202 are separated (FIG. 14). After the separation of the base unit 201 and the shock absorbing spring 202, the base unit 201 does not receive any force from the shock absorbing spring 202, so that the released base unit 201 is sufficiently decelerated toward the collision target object 300. Keep moving. Since the base unit 201 collides with the collision target object 300 from a sufficiently decelerated state, the impact is relieved and the rebound is reduced compared to a normal collision. Note that the shock absorbing spring 202 continues to reciprocate until the potential energy stored in the shock absorbing spring 202 at the time of separation of the parent machine 201 and the shock absorbing spring 202 is dissipated (FIG. 15).

  The above-described impact mitigation and bounce reduction systems 100 and 200 and their operations are merely examples of specific embodiments of the present invention, and the present invention can be implemented in a manner different from these.

  For example, the timing of releasing the fixed state by the fixing devices 103 and 203 is that the shock absorbing springs 102 and 202 are sufficiently extended (the length has reached a predetermined value or exceeded the predetermined value), an arbitrary sensor or the like However, in addition to this, any sensor or the like that the magnitude of the speed of the base units 101 and 201 with respect to the collision target body has become a predetermined value or less, or has fallen below the predetermined value, etc. The fixed state by the fixing devices 103 and 203 may be released by operating the actuator in response to the detection. Further, in the impact mitigation and bounce reduction system 100 shown in FIG. 1, the fixing device 103 is hooked on the end portion of the slave unit 106. However, in the configuration using the slave unit 106, the fixing device is similar to the configuration of FIG. 103 may be hooked on the handset installation unit 107. Further, it is not essential that the slave unit installation portions 107 and 207 are provided as members separate from the shock absorbing springs 102 and 202. By forming the end portions of the shock absorbing springs 102 and 202 into an appropriate shape, etc. The machine installation units 107 and 207 may be configured. In any case, the master units 101 and 201 and the shock absorbing springs 102 and 202 are connected in a state where mechanical energy can be transmitted.

  Moreover, the rails 108 and 208 do not need to extend beyond the slave unit injection ports 110 and 210, and it is not essential that the rails 108 and 208 are fixed to the master units 101 and 201 as shown in FIG. Absent. Further, as the collision object 300, for example, land is conceivable, but even when the leg portions 105 and 205 collide with the land and the base units 101 and 201 collide with rocks on the land, the present invention reduces the impact. It is possible to achieve a bounce reduction. That is, the collision object 300 does not have to be a single integrated object, but may be a collection of separate objects.

  Further, in the first and second embodiments, the fixed state by the fixing devices 103 and 203 is released while the base units 101 and 201 are sufficiently decelerated, but to what extent the base units 101 and 102 are decelerated. Is a matter that should be appropriately determined according to conditions such as the durability of the master units 101 and 201 and the lengths of the legs 105 and 205, and at least a part of the mechanical energy of the master units 101 and 201 is a shock absorbing spring. If the fixed state is released at the time of conversion to the potential energy of 102 and 202, the impact on the base units 101 and 201 can be reduced. The same applies to the case where the fixed state is released in response to the length of the shock absorbing springs 102 and 202 reaching a predetermined value or exceeding the predetermined value. The value set as the predetermined value may be arbitrarily small.

  In addition, in the first embodiment, the rail 108 is tilted by pulling the wire 109. However, the injection direction of the slave unit 106 may be selected by bending the rail in an arbitrary direction in advance. If the wire 109 is changed to a rigid rod and the rail 108 is bent by applying force not only in the pulling direction but also in the pushing direction, the tip of the rail 108 can be moved in two directions with only one rigid rod. It becomes. If a shape memory alloy is used as the material of the rail 108, the angle can be controlled by a heater.

Optimization of Design Parameters and Introduction of Pre-Extension Spring Model Next, optimization of design parameters in the impact mitigation and bounce reduction system and method described so far will be described. By optimizing the design parameters, it is possible to further reduce the bounce height and acceleration in the master unit.

First, the rigidity (spring constant) and stroke length of the shock absorbing spring are treated as design variables. Taking the shock mitigation and bounce reduction system 100 of FIG. 1 as an example, as shown in FIG. 21, the stroke length l _st is the preceding collision body (impact absorbing spring holding portion) when the shock absorbing spring 102 is the natural length l _ns. 104 and four leg portions 105 are integrally formed.) Is defined as the height of base unit 101. The spring constant of the shock absorbing spring 102 is k _s . Hereinafter, optimization of design parameters will be described using the system of FIG. 1 as an example. Even in a system that does not use a slave unit as shown in FIG. 12, if the parameters k _s and l _st are similarly defined, these parameters are similarly set. Can be optimized.

Hereinafter, separation of the master unit 101 and the slave unit 106 (the master unit 101 and the master unit 101), which are the most problematic in implementing the system and method for reducing the bounce height and acceleration of the master unit 101 and further reducing the impact and bounce reduction system and method. (Synonymous with separation from the shock absorbing spring 102) The above parameter k for improving robustness against timing delay (suppressing increase in energy of the base unit 101 after separation, ie, suppressing decrease in potential energy of the shock absorbing spring 102). The optimal values of _s and l _st are derived theoretically. In addition, the impact mitigation and bounce reduction system and method of the present invention described so far will be expanded to introduce a pre-extension spring model according to the second invention of the present invention to further improve performance. In the following, it is assumed that the impact mitigation and bounce reduction system 100 collides with the colliding object 300 by free fall, and the velocity of the impact mitigation and bounce reduction system 100 with respect to the collided object 300 is particularly zero at the fall start time t = 0. Suppose that

A. Optimization of rigidity and stroke length of shock absorbing spring In the main unit 101, a) the maximum rebound height, b) the maximum acceleration value, c) the above-mentioned spring to minimize the increase in energy due to the separation delay The constant k _s and the stroke length l _st can be optimized as follows.

（３）
ただし、ｍ₂は親機１０１の質量（ｋｇ）であり、ｇは重力加速度（ｍ／ｓ²）であり、ｙ₂（Ｔ₂）は、親機１０１と子機１０６の分離時刻Ｔ₂（ｓ）における、被衝突物体３００の衝突面に対する親機１０１の高さ（ｍ）である。Ｅ_gは、被衝突物体３００による減衰で吸収されるエネルギ（Ｊ）であり、ｈ_rは、親機１０１における最大の跳ね返り高さ（ｍ）である。 a) According to the optimal design energy conservation law for minimizing the maximum bounce height in the master unit, the mechanical energy of the master unit 101 is attenuated by the collision target object 300 (hereinafter referred to as the ground) during separation. Then, it receives some energy absorption, and then rebounds by the remaining energy. Therefore, the following formula (3) is obtained.

(3)
Here, m ₂ is the mass (kg) of the base unit 101, g is the acceleration of gravity (m / s ² ), and y ₂ (T ₂ ) is the separation time T ₂ ( The height (m) of the parent device 101 with respect to the collision surface of the colliding object 300 in s). E _g is the energy (J) absorbed by the attenuation by the collision object 300, and h _r is the maximum rebound height (m) in the parent device 101.

（４）

（５） Since E _g is a value greater than or equal to zero, the maximum rebound height is described by the following equations (4) and (5).

(4)

(5)

（６）
ただし、ｍは、親機１０１の質量、及び、親機１０１が衝撃吸収ばね保持部１０４による衝撃吸収ばね１０２を介した制限を受けながら被衝突物体３００に向かって移動しているときに親機１０１と一体となって移動する全ての要素の質量の合計を表わす（これら要素のうち、子機１０６以外の要素の質量を無視できる場合には、子機１０６の質量をｍ₁（ｋｇ）として、ｍ＝ｍ₁＋ｍ₂である。以下、この式が成り立つと仮定する。）。ｈ₀は、親機１０１が被衝突物体３００に向かって移動を開始した時点での、被衝突物体３００上の衝突面に対する親機１０１の高さ（ｍ）を表わす。 In order to minimize the bounce height, it is necessary to set the height y ₂ (T ₂ ) of the base unit 101 at the time of separation to zero. The following assumptions:
(I) Considering the case where the slave unit 106 and the master unit 101 (and the slave unit installation unit 107 and the like have mass), the master unit 101 is restricted by the shock absorbing spring holding unit 104 via the shock absorbing spring 102. However, the mechanical energy of all other elements that move together with the base unit 101 when moving toward the collision target object 300 is the potential energy of the shock absorbing spring 102 at time t = T ₂ . Completely converted (without dissipating).
(Ii) The displacement of the leg 105 with respect to the collided object 300 is 0 (m) over the period from the collision of the leg 105 and the collided object 300 to the separation time T ₂ (the leg 105 bounces back). Does not happen).
(Iii) At time t = T ₂ , the speed of base unit 101 is 0 (m / s).
Based on the following equation (6) is obtained.

(6)
However, m is the master unit when the master unit 101 is moving toward the object to be collided 300 while being restricted by the shock absorbing spring 102 by the shock absorbing spring holding unit 104 while being limited by the mass of the base unit 101. 101 represents the sum of the masses of all the elements that move together with 101 (if the masses of these elements other than the slave unit 106 can be ignored, the mass of the slave unit 106 is m ₁ (kg)). M = m ₁ + m _2. Hereinafter, it is assumed that this equation holds.) h ₀ represents the height (m) of the base unit 101 with respect to the collision surface on the collided object 300 when the base unit 101 starts moving toward the collided object 300.

（７）
この結果は、上記式（７）が成り立つ限り親機１０１の最大跳ね返り高さがゼロになることを示している。 In order to satisfy y ₂ (T ₂ ) = 0, the spring constant k _s must satisfy the following equation (7).

(7)
This result indicates that the maximum rebound height of the base unit 101 becomes zero as long as the above equation (7) holds.

This result was confirmed by computer simulation. FIG. 22a is a graph showing computer simulation results under various conditions regarding an appropriate value given by the above equation (7) regarding the relationship between the maximum rebound height of the base unit 101 and the stroke length of the shock absorbing spring 102 (FIG. 22a). Broken line: spring constant is 50% of the appropriate value, thick line: spring constant is the appropriate value, thin line: spring constant is 150% of the appropriate value). In this computer simulation and subsequent computer simulations, m = m ₁ + m ₂ was assumed, and the mass of the flying object installation unit 107 and the like was ignored. Various parameter values used in the computer simulation are as shown in Table 2 below.

  If the spring constant is appropriately selected, the computer simulation result shows that the bounce height of the base unit 101 is almost zero. On the other hand, when the spring constant was an inappropriate value, the result of the computer simulation deteriorated.

  As described above, it has been theoretically and analytically shown that the rebound height is minimized when the above equation (7) holds.

ただし、

（８）

ただし、

（９）

ただし、

（１０）
ここで、

は、それぞれ親機１０１が地面に最初に接触してからの経過時間（ｓ），経過時間に応じて変化する加速度（ｍ／ｓ²），減衰比（無次元），親機１０１が地面に衝突した時の速度の大きさ（ｍ／ｓ），地面の固有角周波数（ｒａｄ／ｓ）である。 b) Optimal design for minimizing acceleration in the master unit The acceleration can be increased by the repulsion of the ground and the tension of the shock absorbing spring 102. First, minimization of acceleration from the colliding object 300 will be described. Since the ground is modeled by rigidity and damping, the dynamics after collision (landing) in the base unit 101 is explained by damping vibration. The acceleration is expressed by the following equations (8) to (10) depending on the ground attenuation ratio.

However,

(8)

However,

(9)

However,

(10)
here,

Are the elapsed time (s) since the main device 101 first touched the ground, acceleration (m / s ² ) and damping ratio (dimensionless) that change according to the elapsed time, and the main device 101 touches the ground. The magnitude of velocity at the time of collision (m / s) and the natural angular frequency (rad / s) of the ground.

（１１）

（１２） When ν ₀ is zero, the acceleration can be zero regardless of the value of the damping ratio. Since base unit 101 falls from y ₂ (T ₂ ), which is the height at the time of separation, ν ₀ can be obtained by the following equations (11) and (12) based on the energy conservation law.

(11)

(12)

If y ₂ (T ₂ ) = 0, ν ₀ is also zero, and acceleration from ground repulsion can be zero. This condition can be expressed by the above equation (7) in the same manner as the optimization for suppressing the bounce. This result shows that the rebound and acceleration from the ground can be zero at the same time. Suppressing bounce and acceleration from the ground is the main purpose for realizing soft landing, and therefore, parameters are optimized under the condition of Equation (7) below.

を、以下の式（１３），（１４）で表わす。

（１３）

（１４）
ただし、ｙ₂（ｔ），ｙ₃（ｔ）は、それぞれ時刻ｔにおける親機１０１と先行衝突体の地面に対する高さ（ｍ。地面から、親機１０１と脚部１０５それぞれの最下部までの距離）である。 Next, acceleration at time t from the shock absorbing spring 102

Is expressed by the following equations (13) and (14).

(13)

(14)
However, y ₂ (t) and y ₃ (t) are the heights of the base unit 101 and the preceding collision body with respect to the ground at time t (m. From the ground to the lowermost parts of the base unit 101 and the leg 105, respectively. Distance).

（１５） The tension of the spring is generated only during a period from when the leg 105 collides with the ground (FIG. 3) to when the parent device 101 and the child device 106 are separated (FIG. 5). During this period, y ₃ (t) is considered to be zero because the leg 105 is in contact with the ground. The maximum acceleration that occurs when the shock absorbing spring 102 is extended to the maximum is obtained by the following equation (15).

(15)

（１６） Under the condition of the above formula (7), this maximum acceleration is expressed by the following formula (16).

(16)

This result shows that the acceleration is zero when the stroke length is infinite. However, in reality, there is an upper limit on the stroke length. For example, the stroke length may be constrained by the size of the fairing for the launch system. The position of the leg 105 cannot be below the ground, but this also restricts the maximum stroke length. In such a case, the stroke length should be as large as possible. The relationship between the stroke length and the maximum acceleration is shown in the graph of FIG. 22b. FIG. 22B is a graph showing a computer simulation result regarding the relationship between the maximum acceleration and the stroke length of the master unit 101 (broken line: spring constant is 50% of proper value, thick line: spring constant is proper value, thin line: spring) (The constant is 150% of the appropriate value. See Table 2 for various parameter values.)
This result shows that the acceleration is well suppressed by increasing the stroke length and giving an appropriate spring constant. Similar to the optimization results for bounce suppression, the results of the computer simulation deteriorated when the spring constant was incorrect.

（１７） c) A method for minimizing the increase in the energy of the parent device 101 caused by the optimum design separation delay Δt to minimize the increase in the energy of the parent device due to the separation delay will be described below. Here, the performance index E _loss is defined by the following equation (17). This performance index represents the total amount of mechanical energy that cannot be properly converted into the potential energy of the shock absorbing spring 102.

(17)

（１８）
ここで、

は時刻Ｔ₂における親機１０１の速度であるが、分離の時刻Ｔ₂の定義から、この速度はゼロである（上記仮定（iii））。

は、上記式（１５）から得られる。上記（７）式の条件下で、性能インデックスＥ_lossは以下の式（１９），（２０）によって表わされる。

（１９）

（２０） In order to approximate y ₂ (T ₂ + Δt), Taylor expansion is applied when Δt is sufficiently small, and the following equation (18) is obtained (hereinafter, the third and higher terms for Δt are ignored).

(18)
here,

Although the speed of the main unit 101 at time T _2,, from the definition of the time T ₂ of the separation, the speed is zero (the assumption (iii)).

Is obtained from the above equation (15). Under the condition of the above equation (7), the performance index E _loss is expressed by the following equations (19) and (20).

(19)

(20)

This result shows that the performance index improves if the stroke length is large. 23a and 23b are graphs of computer simulation results showing the relationship between separation delay and soft landing performance for different stroke lengths (broken line: stroke length is 0.1 m, thin line: stroke length is 0.2 m, thick line) : Stroke length is 0.3m (See Table 2 for various parameter values).
The simulation results also clearly show that a large stroke length improves the robustness against separation delay. Therefore, the following design requirements can be defined.
(I) The above equation (7) should be satisfied.
(Ii) Stroke length should be as large as possible.

B. Optimization of shock absorbing spring stiffness, stroke length, and pre-extension length As described above, it is shown that an optimal parameter value can be given by increasing the stroke length under the condition of the above equation (7). It was. In the following, in order to further improve the system and method of the first invention of the present invention, pre-extension is introduced as an additional design variable, which will be examined. First, the configuration and operation of the system and method according to the second invention using the pre-extension model will be described, and then the optimization of various parameters in the model will be described.

Configuration of Impact Mitigation and Bounce Reduction System 1000 FIG. 24 is a diagram showing the configuration of the impact mitigation and bounce reduction system 1000 according to the second aspect of the present invention in which pre-extension is applied to the impact absorbing spring. FIG. 25 is a diagram visually showing design variables by comparing the system 1000 of FIG. 1 with the system of FIG. FIG. 26 is a plan view of the impact mitigation and bounce reduction system 1000 as viewed in the direction of the arrow in FIG. 26 corresponds to FIG. 24 when the section taken along the line AA ′ in FIG. 26 is viewed in the direction of the arrow in FIG.

  The shock mitigation and bounce reduction system 1000 includes a master unit 1001, a shock absorbing spring 1002, a fixing device 1003, a shock absorbing spring holding unit 1004, four legs 1005, a slave unit 1006, a slave unit installation unit 1007, and a rail 1008. In addition to this, a wire or the like for rotating the rail may be provided as in the first embodiment, and the rail 1008 may be omitted if it is not necessary to control the injection direction of the slave unit 1006.

  Similar to the first invention, in one example, the master unit 1001 is a planetary lander, the slave unit 1006 is a planetary explorer, and the impact mitigation and bounce reduction system 1000 constitutes a planetary landing ship as a whole. It is not limited to this.

In the shock relaxation and bounce reduction system 1000, the shock absorbing spring holding portion 1004 of the preceding collision body formed integrally with the shock absorbing spring holding portion 1004 and the four legs 1005 (see FIG. 26) is shocked. The absorbing spring 1002 is held by means such as welding one end thereof, and the other end of the shock absorbing spring 1002 holds the slave unit installation portion 1007 by means such as welding. By extension / contraction of the shock absorbing spring 1002, the slave unit installation portion 1007 can move in the direction toward the shock absorbing spring holding portion 1004 and in the opposite direction. Movement beyond a predetermined position where the machine installation unit 1007 exists is blocked by the shock absorbing spring holding unit 1004. When handset installation section 1007 is in the predetermined position of Figure 24, the elongation of the shock absorbing spring 1002 (the length of pre-stretched) and l _p. In FIG. 24, l _ns represents the natural length of the shock absorbing spring 1002, and the height of the master unit 1001 with respect to the preceding collision object when the slave unit installation part 1007 is at the predetermined position is the stroke length l _st .

  A slave unit 1006 is installed in the slave unit installation unit 1007 by suspending one end thereof. Further, the master unit 1001 is fixed by hooking the fixing device 1003 to the other end of the slave unit 1006. With such a configuration, the parent device 1001, the child device 1006, and the preceding collision body are restricted by the shock absorbing spring 1002, while the parent device 1001 is in the direction of the arrow in FIG. Connected in a movable state. Note that the fixed state of the parent device 1001 and the child device 1006 by the fixing device 1003 can be arbitrarily released by an actuator or the like not shown.

  The rail 1008 passes through the central axis of the slave unit 1006 as shown in FIGS. 24 and 26 and extends beyond the slave unit injection port 1010. The slave unit 1006 can move along the rail 1008 away from the slave unit installation unit 1007 in a state where the fixation by the fixing device 1003 is released. The rail 1008 has a structure that can be tilted with a predetermined position as a fulcrum as shown in FIG. 24, and connects one end of the rail 1008 to a wire (not shown) as in the system of the first invention. The elevation angle can be adjusted by tilting the rail 1008 about the predetermined position as a fulcrum by pulling the wire with an actuator not shown. As already described with reference to FIG. 6, the azimuth angle of the slave unit 1006 can be adjusted by rotating the rail 1008 bent in advance around its axis. As in the system of the first invention, it is preferable to scrape one end of the slave unit 1006 or to connect the wire detachably to the rail 1008 in order to prevent interference with the wire.

Operation of Impact Mitigation and Bounce Reduction System 1000 Next, the operation of the impact relief and bounce reduction system 1000, which is an example of the impact mitigation and bounce reduction method according to the second invention, will be described with reference to FIGS. (Since the control of the injection direction using a wire or the like is the same as in the first invention of the present invention, it will be omitted). Before the collision, the slave unit 1006 is restrained by the rail 1008, and the master unit 1001 and the slave unit 1006 are fixed by the fixing device 1003, so that the impact reduction and bounce reduction system 1000 shown in FIG. It shall be.

  First, the leg 1005 collides with the colliding object 300 (FIG. 27). When the leg portion 1005 collides with the object to be collided 300, the leg portion 1005 receives a reaction force in the direction opposite to the movement direction so far, so that the speed of the leg portion 1005 is reduced. The leg portion 1005 is in contact with the object to be collided 300, and cannot move any further in the traveling direction.

  On the other hand, since the parent device 1001 and the child device 1006 try to continue the movement in the traveling direction so far due to inertia, the shock absorbing spring 1002 is extended as shown in FIG. As the parent device 1001 and the child device 1006 move toward the collision target object 300 while being restricted by the shock absorbing spring 1002, and the shock absorbing spring 1002 expands, the parent device 1001 and the child device 1006 are present at the time of collision. The mechanical energy that has been converted is gradually converted into the potential energy of the shock absorbing spring 1002.

  In a state where the shock absorbing spring 1002 is sufficiently extended, most of the mechanical energy of the parent device 1001 and the child device 1006 is converted into the potential energy of the shock absorbing spring 1002, and thus the speed of the parent device 1001 and the child device 1006 is increased. Is small enough. In this way, when the shock absorbing spring 1002 is sufficiently extended, the fixed state by the fixing device 1003 is released using an actuator or the like, and the parent device 1001 and the child device 1006 are separated (FIG. 29). Since the parent device 1001 does not receive force from the shock absorbing spring 1002 after the separation of the parent device 1001 and the child device 1006, the released parent device 1001 moves from the sufficiently decelerated state toward the collision object 300. Continue to move (FIG. 30). On the other hand, the slave unit 1006 receives a force from the shock absorbing spring 1002 through the slave unit installation unit 1007 and is accelerated in the direction opposite to the traveling direction so far. The slave unit 1006 moves toward the slave unit injection port 1010 while being guided by the rail 1008 (FIG. 30).

The handset 1006 moves along the rail 1008 toward the handset outlet 1010. Since the potential energy of the impact absorbing spring 1002 is converted into the mechanical energy of the slave unit 1006 via the slave unit installation unit 1007, the shock absorbing spring 1002 contracts. When the extension of the shock absorbing spring 1002 reaches the pre-extension length l _p , the handset installation unit 1007 reaches the above-mentioned predetermined position, so that it can move further in the direction of the shock absorbing spring holding unit 1004. I can't (Figure 31). At this time, the slave unit 1006 is released from the shock absorbing spring 1002, is separated from the slave unit installation part 1007, and is injected toward the tip of the rail 1008 (FIG. 32). When the handset 1006 passes the tip of the rail 1008, the handset 1006 is no longer restrained by the rail 1008 and performs a parabolic motion. In addition, since the base unit 1001 collides with the collision target object 300 from a sufficiently decelerated state, the impact is relaxed and rebound is reduced compared to a normal collision.

  The above-described shock mitigation and bounce reduction system 1000 and its operation are merely examples of the specific embodiment of the second invention of the present invention, and the second invention of the present invention can be implemented in a different manner.

  For example, the timing at which the fixing state by the fixing device 1003 is released is the timing at which an arbitrary sensor or the like detects that the shock absorbing spring 1002 has sufficiently extended (the length has reached a predetermined value or exceeded a predetermined value). In addition to this, it is detected by an arbitrary sensor or the like that the magnitude of the speed of the base unit 1001 with respect to the collided body is less than or equal to a predetermined value, and In response, the actuator may be operated to release the fixed state by the fixing device 1003. In addition, it is not essential that the slave unit installation unit 1007 is provided as a separate member from the shock absorbing spring 1002, and the slave unit installation unit 1007 is configured by molding the end of the shock absorbing spring 1002 into an appropriate shape. May be. In any case, the base unit 1001 and the shock absorbing spring 1002 are connected in a state where mechanical energy can be transmitted.

  In addition, the arbitraryness such as the length of the rail 1008, the collision object 300 may be a group of separate objects, the speed of the base unit 1001 at the time of separation, and the shock absorption, which have already been described with respect to the first invention of the present case. The arbitraryness of the length of the spring 1002, the arbitraryness of the specific configuration of the rail 1008 and the wire, and the like are similarly established in the second invention.

（２１）

（２２） Optimization of parameters in the pre-extension model Hereinafter, optimization of various parameters in the shock mitigation and bounce reduction system 1000 of FIG. 24 will be described. As already described in connection with the first invention, the rebound and acceleration from the ground are most strongly suppressed under the condition of y ₂ (T ₂ ) = 0 (y ₂ , T ₂ , and the subsequent use). The symbol represents the same meaning as the symbol used in the parameter optimization in the first invention of the present invention, and m = m ₁ + m ₂ ). In the pre-extension model system according to the second aspect of the present invention, this condition is expressed by the following equations (21) and (22) according to the energy conservation law.

(21)

(22)

This result shows that the spring constant can be determined as a unique function of the stroke length l _st and the pre-extension length l _p . Here, it can be said that the formula (22) is a more general expression of the formula (7). When l _p = 0, equations (7) and (22) are equivalent.

（２３） At the separation time t = T ₂ , the maximum acceleration from the shock absorbing spring 1002 is generated. Under the condition of the above formula (22), the acceleration can be expressed by the following formula (23) by the same calculation as the parameter optimization of the first aspect of the present invention.

(23)

（２４） As described above, it can be understood that both the stroke length and the length of the pre-extension should be increased in order to suppress the acceleration. If the length of the pre-extension is unlimited and infinite, as shown in the following formula (24), the maximum acceleration is set as compared with the acceleration of the formula (16) in the first invention without using the pre-extension. It can be reduced by 50%.

(24)

The above results can be confirmed by the graphs of FIGS. 33a and 33b showing the computer simulation results regarding the relationship between the length of the pre-extension and the soft landing performance in the system of the second invention of the present invention (broken line: proper spring constant) 50% of the value, thick line: the spring constant is an appropriate value, thin line: the spring constant is 150% of the appropriate value (see Table 2 for various parameter values). From this result, it is clear that the rebound can be suppressed in the system using the pre-extension of the second invention as in the first invention.
In addition, acceleration suppression performance is improved by a system that uses pre-extension.

（２５） In addition, a parameter value that minimizes the increase in energy of base unit 1001 caused by the separation delay can be obtained by a method similar to the method performed in the first invention. The performance index E _loss is expressed by the following equation (25).

(25)

（２６） When Δt is sufficiently small, Taylor expansion is applied to y ₂ (T ₂ + Δt). Here, based on the same assumption as that used in the first invention, the speed of base unit 1001 at time T ₂ is zero, and y ₂ (T ₂ ) = 0 as described above. Further, using the above equation (23), the following equation (26) is obtained (hereinafter, the third and higher terms of Δt are ignored).

(26)

（２７） Under the condition of the above equation (22), the performance index E _loss is expressed by the following equation (27).

(27)

This result shows that the length of pre-extension should be as large as possible. The graphs of FIGS. 34a and 34b show computer simulation results for the relationship between soft landing performance and separation delay for different pre-extension lengths (dashed line: stroke length 0 m, thin line: stroke length 0. 5 m, thick line: stroke length is 2.0 m. See Table 2 for various parameter values.)
Simulation results show that increasing the length of pre-extension improves the robustness against separation delay.

  In conclusion, the pre-extension model system was shown to have three important design parameters. That is, (i) the stroke length should be increased, (ii) the length of the pre-extension should be increased, and (iii) the spring constant should satisfy the above formula (22).

  Next, the configuration and operation of the telescopic leg mechanism according to the third invention will be described. First, the basic concept of the telescopic leg mechanism and the performance of the telescopic leg mechanism shown by computer simulation will be described with reference to FIGS. 35 to 57, and then specific examples of the telescopic leg mechanism will be described with reference to FIGS. 58 to 90. Will be explained.

Basic concept diagram of telescopic leg mechanism FIG. 35 shows a basic configuration of an impact mitigation and bounce reduction system 2000 which is an example of an telescopic leg mechanism. The shock relaxation and bounce reduction system 2000 includes a base unit 2001, a shock absorbing spring 2002, a fixing device 2003, a shock absorbing spring holding unit 2004, four first movable legs 2005, a slave unit 2006, a slave unit installation unit 2007, and a rail 2008. , Four second movable legs 2014, a first restraining mechanism 2015, and a second restraining mechanism 2016. In addition to this, a rail control wire for rotating the rail may be provided as in the first embodiment, and the rail 2008 can be omitted if it is not necessary to control the injection direction of the slave unit 2006.

  The shock absorbing spring holding portion 2004 holds the shock absorbing spring 2002 by means such as welding one end thereof, and the other end of the shock absorbing spring 2002 holds the child device installation portion 2007 similarly by means such as welding. ing. A slave unit 2006 is installed in the slave unit installation unit 2007, and together with the master unit 2001 connected to the slave unit 2006 by a fixing device 2003, it is moved up and down while being limited by the shock absorbing spring 2002 by the shock absorbing spring holding unit 2004. It is movable. The four first movable legs 2005 can slide up and down with respect to the shock absorbing spring holding section 2004. Similarly, the four second movable legs 2014 slide up and down with respect to the base unit 2001, respectively. It is possible to move. The first restraining mechanism 2015 and the second restraining mechanism 2016 have a configuration capable of preventing the sliding in the first movable leg 2005 and the second movable leg 2014, respectively. FIG. 35 conceptually shows a state in which the first movable leg 2005 and the second movable leg 2014 are slidable without being restrained by the first restraining mechanism 2015 and the second restraining mechanism 2016. The first restraining mechanism 2015 and the second restraining mechanism 2016 are constrained, and the first movable leg 2005 and the second movable leg 2014 are not slidable conceptually.

  FIG. 37 shows an outline of the operation of the non-extensible / retractable leg mechanism in chronological order from the left. As already explained, it is preferable to separate the master unit and the slave unit when the speed of the master unit and the height from the collision surface of the master unit become zero from the viewpoint of bounce reduction, etc., but the stroke length is In the case of deviation, even if separation is performed when the speed of the parent machine is zero, there is a risk that a gap will occur as shown in FIG.

  If a telescopic leg mechanism is used, such a shift in stroke length can be compensated. 38 to 42 show an outline of the operation of the telescopic leg mechanism in chronological order.

  The shock absorption and bounce reduction system 2000 moves toward the collision surface (FIG. 38), and first the first movable leg 2005 collides. When the collision surface is flat, all the first movable leg portions 2005 collide with the collision surface at the same time, and at this timing, the first restraining mechanism 2015 fixes the first movable leg portion 2005 to the shock absorbing spring holding portion 2004. (FIG. 39).

  Thereafter, the parent device 2001 and the child device 2006 move with respect to the collision surface while being restricted via the shock absorbing spring 2002, and eventually the second movable leg 2014 collides with the collision surface (FIG. 40). Thereafter, while the second movable leg 2014 is slid with respect to the parent device 2001, the parent device 2001 and the child device 2006 further move with respect to the collision surface, and eventually the collision surface is affected by the elastic force of the shock absorbing spring 2002. Stops movement with respect to and starts moving in the opposite direction.

  Typically, at this timing, the connection between the parent device 2001 and the child device 2006 by the fixing device 2003 is released (separation at this timing is preferable from the viewpoint of bounce reduction, but an arbitrary actuator is used, etc. The separation may be performed at any other timing, the same applies to all the embodiments). Further, the second movable leg 2014 is fixed to the base unit 2001 by the second restraining mechanism 2016 (FIG. 41. Similar to the above-described separation, this timing is also arbitrary. These timings are optional. The same applies to the embodiment of the above. When the stroke length is deviated, a gap is generated as shown in FIG. 42. However, since the second movable leg 2014 is not slidable with respect to the parent machine 2001, the parent machine 2001 does not fall. In this way, if the telescopic leg mechanism is used, a shift in stroke length can be compensated.

  Further, if the telescopic leg mechanism is used, it is possible to prevent the system from rotating when landing on a stepped ground or the like. As shown in FIG. 43, when the non-stretchable leg mechanism lands on a stepped ground, a rotational moment is generated in the system, the posture is inclined, and if the step is large, the system may be rotated or overturned. If the shock absorbing spring extends with the posture inclined, the shock absorbing spring and the main body may collide without extending along the main body as shown in FIG.

  If the telescopic leg mechanism is used, such a problem can be avoided. The outline of the operation when the shock absorption and bounce reduction system 2000 using the telescopic leg mechanism lands on a stepped ground is shown in time series in FIGS.

  The shock absorption and bounce reduction system 2000 moves toward the collision surface (FIG. 44). First, a part of the first movable leg 2005 collides with the step (FIG. 45). Thereafter, the impacting and rebound reduction system 2000 continues to move to the ground while the colliding first movable leg 2005 slides with respect to the shock absorbing spring holding part 2004 (the telescopic leg contracts). The bounce reduction system 2000 can maintain the original posture.

  When all the first movable legs 2005 collide with the collision surface, the first restraining mechanism 2015 fixes the first movable legs 2005 to the shock absorbing spring holding section 2004 (FIG. 46). Thereafter, the parent device 2001 and the child device 2006 move with respect to the collision surface while being restricted via the shock absorbing spring 2002, and eventually the second movable leg 2014 collides with the collision surface (FIG. 47). Thereafter, while the second movable leg 2014 is slid with respect to the parent device 2001, the parent device 2001 and the child device 2006 further move with respect to the collision surface, and eventually the collision surface is affected by the elastic force of the shock absorbing spring 2002. Stops movement with respect to and starts moving in the opposite direction. Typically, at this timing, the connection between the parent device 2001 and the child device 2006 by the fixing device 2003 is released, and the second movable leg 2014 is fixed to the parent device 2001 by the second restraining mechanism 2016 ( FIG. 48).

Basic concept of telescopic leg mechanism with active elements The telescopic leg mechanism described above can be composed of only passive elements that do not require external control, as will be described later using specific examples. If the telescopic leg mechanism is configured using elements, it becomes possible to control the restraining force of the first restraining mechanism 2015 and the second restraining mechanism 2016 to operate the system more flexibly.

  For example, when the separation timing of the parent device 2001 and the child device 2006 is early and the parent device 2001 has a speed toward the collision surface even after separation (the left diagram in FIG. 49), the restraint provided in the second restraining mechanism 2016 If a resistance force against the sliding movement of the second movable leg 2014 is generated by the actuator (motor, gear, etc. whose torque can be externally controlled), the master unit 2001 is gradually stopped. The acceleration can be reduced (the right diagram in FIG. 49). Even when the separation timing is late and the master unit 2001 has a speed in the injection direction of the slave unit 2006 (the left diagram in FIG. 50), the second movable leg 2014 is slid by the restraint actuator provided in the second restraint mechanism 2016. When the resistance to the base unit 2001 is generated, the base unit 2001 gradually stops, so that the second movable leg 2014 can be extended and fixed at the point where the base unit is most lifted to prevent re-falling (see FIG. 50). (Right figure).

  Also, in the non-extensible leg mechanism, when the leg collides violently with hard ground or the like, the leg may vibrate and the estimation accuracy of the slave unit injection speed may deteriorate (FIG. 51). If the telescopic leg mechanism is configured, the restraining force of the first restraining mechanism 2015 and the second restraining mechanism 2016 is controlled, and the sliding of the movable leg is gradually stopped, so that the first movable leg 2005, the second The movable leg 2014 can be brought into gentle contact with the hard ground (FIG. 52). Thereby, the vibration of the movable leg is suppressed, and the estimation accuracy of the slave unit injection speed is improved.

Results of computer simulation of the performance of the telescopic leg mechanism As for the operation of the system including the telescopic leg mechanism configured as shown in FIG. 35, when the spring stiffness of the shock absorbing spring 2002 varies, the height of the step varies. FIGS. 53a to 56b show the results of the computer simulation for each of the cases where the restraint of the telescopic legs is delayed when the inclination of the slope changes. In FIGS. 53a to 55c, the graph on the right side is the computer simulation result for the telescopic leg mechanism, and the graph on the left side is the computer simulation result for the non-stretchable leg mechanism. The nominal parameter values used in the computer simulation are as shown in Table 3 below.

  First, looking at the simulation results when the spring stiffness fluctuated, although there was no significant difference between the non-extensible leg mechanism and the extensible leg mechanism in terms of the maximum rebound height of the master unit (Fig. 53a), It can be seen that the acceleration is reduced by the telescopic leg mechanism particularly when the spring rigidity is large (FIG. 53b). Next, looking at the simulation results when the height of the step fluctuates, the telescopic leg mechanism has good performance at all heights, including the maximum rebound height, maximum acceleration, and maximum rotation angle. (FIGS. 54a to 54c). Moreover, even if it sees the simulation result when the inclination of the slope where it lands changes, it turns out that a telescopic leg mechanism exhibits a favorable performance with respect to the slope of all inclinations (FIGS. 55a-55c). The simulation results when the restraint of the telescopic legs is delayed are as shown in FIGS. 56a and 56b, and it is necessary to lock the telescopic legs within a range in which the length capable of extending the shock absorbing spring can be maintained sufficiently. I understand that. As an improvement measure against the delay in restraining the telescopic legs, if the stopper 2017 is used as shown in FIG. 57, the amount that the telescopic legs can be shrunk is limited, and the minimum length for the extension of the shock absorbing spring 2002 is set. Can be secured.

Next, a specific example of an impact absorption and bounce reduction system 2000 provided with an extendable leg mechanism will be described.

FIG. 58 shows an example of a specific configuration of the shock absorption and bounce reduction system 2000 . The shock relaxation and bounce reduction system 2000 includes a base unit 2001, a shock absorbing spring 2002, a fixing device 2003, a shock absorbing spring holding unit 2004, four first movable legs 2005, a slave unit 2006, a slave unit installation unit 2007, and a rail 2008. , Rail control wire 2009, four second movable legs 2014, first restraining mechanism 2015, and second restraining mechanism 2016.

  In the example of FIG. 58, in particular, the first restraining device 2015 has four pins 2015A (only two are drawn in FIG. 58, but there are also two at the position on the back side of the paper. The same applies to all other elements. ), Four gears 2015B, four first occlusion members 2015C, four first restraining springs 2015D, four first restraining wires 2015E, and four first restraining actuators 2015F. However, if the first restraining mechanism 2015 is operated only by passive control, the first restraining actuator 2015F is not necessary. Conversely, if the first restraining mechanism 2015 is operated only by active control of the first restraining actuator 2015F, the first restraining mechanism 2015F is not necessary. The first restraining mechanism 2015 may be configured by only the one restraining actuator 2015F.

  Each of the four first occlusion members 2015C can be engaged with one of the four first movable legs 2005, and each is connected to the shock absorbing spring holding part 2004 by a first restraining spring 2015D. When the first occlusion member 2015C is pulled toward the shock absorbing spring holding portion 2004 by the elastic force of the first restraining spring 2015D and engages with the first movable leg 2005, the first movable leg 2005 engaged with the first occlusion member 2015C. Is not slidable with respect to the shock absorbing spring holding portion 2004.

  However, before the start of the landing operation, the four first restraining wires 2015E hooked on the four pins 2015A are connected to the four first occlusion members 2015C (and the four first restraining springs 2015D connected thereto, respectively). ) Is fixed to the elastic body holding part 2004, the first occlusion member 2015C cannot be engaged with the first movable leg 2005. The four pins 2015A are respectively fitted into four holes (FIG. 60) provided in the shock absorbing spring holding portion 2004, and are configured to move within the holes as the four gears 2015B rotate. When the first movable leg 2005 slides against the shock absorbing spring holding part 2004, the gear 2015B rotates, and the pin 2015A moves in the hole by this rotation and is hooked on the pin 2015A. The first constraining wire 2015E is removed, thereby releasing the fixation to the first occlusion member 2015C, the first occlusion member 2015C is engaged with the first movable leg 2005, and the engaged first movable leg 2005 is slid. It becomes impossible to move. Further, during such an operation, if a force along the sliding direction is applied to the first movable leg 2005 by the first restraining actuator 2015F (motor, gear, etc. whose torque can be externally controlled) The first movable leg 2005 can be gradually decelerated and the sliding can be stopped gently, or the first restraining actuator 2015F can generate a large resistance force against the sliding and can be slid only by this. May be stopped.

  In the example of FIG. 58, in particular, the second restraining device 2016 includes four protrusions 2016A provided on the fixing device 2003 (only two are illustrated in FIG. 58, but there are also two at the position on the back side of the page. The same applies to all other elements.), Four second engagement members 2016C, four second restraining springs 2016D, four second restraining wires 2016E, and four second restraining actuators 2016F. However, if the second restraint device 2016 is operated only by passive control, the second restraint actuator 2016F is not necessary. Conversely, if the second restraint mechanism 2016 is operated only by active control of the second restraint actuator 2016F, The second restraining mechanism 2016 may be configured with only the two restraining actuators 2016F.

  Each of the four second occlusion members 2016C can be engaged with one of the four second movable legs 2014, and each is connected to the protrusion 2001-1 of the parent machine 2001 by a second restraining spring 2016D. . When the second occlusion member 2016C is pushed away from the protrusion 2001-1 by the elastic force of the second restraining spring 2016D and engages with the second movable leg 2014, the second movable leg engaged with the second occlusion member 2016C 2014 cannot slide with respect to the parent device 2001.

  However, before the start of the landing operation, the four second restraining wires 2016E hooked on the four protrusions 2016A are respectively connected to the four second engagement members 2016C (and the four second restraining springs connected thereto). 2016D) is fixed to the base unit 2001, the second occlusion member 2016C cannot be engaged with the second movable leg 2014. When the claw portion of the fixing device 2003 is rotated (FIG. 61) to release the connection between the parent device 2001 and the child device 2006, the second restraining wire 2016E is disengaged from the projection portion 2016A, and thereby the second engagement member 2016C is removed. The fixation is also released, the second occlusion member 2016C is engaged with the second movable leg 2014, and the engaged second movable leg 2014 is not slidable. Further, during such an operation, if a force along the sliding direction is applied to the second movable leg 2014 by the second restraining actuator F (motor, gear, etc. whose torque can be externally controlled) The second movable leg 2014 can be gradually decelerated and the sliding can be stopped gently, or the second restraining actuator 2016F can generate a large resistance to sliding and can be slid only by this. May be stopped.

59a and 59b show the components of the shock mitigation and bounce reduction system 2000. FIG. The slider portion 2005-1 is a member configured to slide in the long axis direction of the first movable leg portion 2005. By connecting the shock absorbing spring holding portion 2004 to the slider portion 2005-1, the first movable leg portion is provided. 2005 becomes slidable with respect to the shock absorbing spring holding portion 2004.
The slider portion 2014-1 is a member configured to slide in the long axis direction of the second movable leg portion 2014. By connecting the base unit 2001 to the slider portion 2014-1, the second movable leg portion 2014 is moved. It becomes slidable with respect to the base unit 2001.

  FIG. 60 shows a side view and a plan view of an impact absorbing spring holding portion 2004, an impact absorbing spring 2002, and a slave unit installation portion 2007 (these may be collectively referred to as “main body portion”). The shock absorbing spring holding part 2004 and the slave unit installing part 2007 are connected by a shock absorbing spring 2002. Both the shock absorbing spring holding part 2004 and the slave unit installation part 2007 have holes of appropriate sizes. Projections are provided downward from the shock absorbing spring holding portion 2004. The shock absorbing spring holding portion 2004 is also provided with a hole for attaching the first movable leg 2005 and a hole for installing the pin 2015A.

  FIG. 61 shows a state at each timing when the fixing device 2003 is operated. The fixing device 2003 attached to the parent machine 2001 has a claw-like restraining tool. The connection / separation of the master unit and the slave unit by the restraint tool can be switched in conjunction with the rotational movement of the protrusion installed on the side surface of the master unit 2001. A rail 2008 is erected vertically on the upper part of the base unit 2001.

  In FIG. 62, a slave unit 2006 and a rail 2008 are shown. The subunit | mobile_unit 2006 has a cavity in the axial direction. A roller is installed in the cavity, and the rail 2008 can be sandwiched. A groove is provided in the lower part of the slave unit 2006.

  FIG. 63 shows the first movable leg 2005 and the slider 2005-1. The first movable leg 2005 has a serrated groove on the back surface. The slider portion 2005-1 and the first movable leg portion 2005 can perform a uniaxial sliding motion.

  FIG. 64 shows the first restraining wire 2015E and the second restraining wire 2016E. Each constraining wire is constrained at one end by a ring. The other end of the first restraining wire 2015E is divided into four.

Example of Assembly Procedure of Shock Absorption and Bounce Reduction System 2000 Next, an example of a procedure for assembling the shock absorption and bounce reduction system 2000 using the above-described components will be described.

  First, the rail 2008 installed in the master unit 2001 is passed through the slave unit installation unit 2007, the shock absorbing spring holding unit 2004, and the slave unit 2006 in this order. The slave unit 2006 is moved downward along the rail 2008, and the restraining tool of the fixing device 2003 attached to the master unit 2001 is fitted into the groove of the slave unit 2006. At this time, the slave unit installation unit 2007 is sandwiched between the master unit and the slave unit (FIG. 65).

  The rail control actuator 2018 is attached to the parent machine 2001. The rail control actuator 2018 is connected to the upper end of the rail 2008 via a rail control device 2019 and a rail control wire 2009. Since the rail 2008 is elastically deformed by controlling the rail control actuator 2018, the angle of the rail 2008 tip can be adjusted (FIG. 66).

  The slider portions 2005-1 of the four first movable leg portions 2005 are fixed to the shock absorbing spring holding portion 2004. The slider parts 2014-1 of the four second movable leg parts 2014 are fixed to the lower part of the parent machine 2001 (FIG. 67).

  The first occlusion member 2015C and the first restraining spring 2015D are installed at locations corresponding to the first movable leg portions 2005 attached to the shock absorbing spring holding portion 2004 in the shock absorbing spring holding portion 2004. The first occlusion member 2015C is attracted by the first restraining spring 2015D in a direction to engage with the first movable leg 2005 (FIG. 68).

  A pin 2015A and a gear 2015B are installed on the shock absorbing spring holding portion 2004. The gear 2015B transmits the vertical movement of the first movable leg 2005 to the pin 2015A. That is, the pin 2015A is installed so as to move in the direction opposite to the movement of the first movable leg 2005 (FIG. 69).

  The ring of the first restraining wire 2015E is hooked on each pin 2015. Four wires extending from the ring are attached to each first occlusion member 2015C, and the first occlusion member 2015C is fixed so that the first occlusion member 2015C does not engage with the first movable leg 2005 (FIG. 70, further details). 71 is shown in Fig. 71. For the state in which a part or all of the wires are disconnected, see Fig. 72 to Fig. 75. Also in Fig. 74 in the state in which three wires are disconnected, one wire is all the first occlusion members. Since all of the occlusion members 2015C cannot be engaged with the first movable leg 2005 since the 2015C is fixed, the occlusion members 2015C are slidable.

  The first restraining actuator 2015F is installed at a corresponding position of each first movable leg 2005 attached to the shock absorbing spring holding part 2004. The first restraining actuator 2015F can apply a force in the sliding direction to the first movable leg 2005 by controlling the rotational motion (FIG. 76).

  A second occlusion member 2016C and a second restraining spring 2016D are installed on the protrusion 2001-1 of the base unit 2001. The second occlusion member 2016C is pushed out by the second restraining spring 2016D in a direction to engage with the second movable leg 2014 (FIG. 77).

  Each occlusal member 2016C attached to the base unit 2001 is connected by the fixing device 2003 and the second restraining wire 2016E so that the occlusal member 2016C does not engage the second movable leg 2014 (FIG. 78).

  The second restraining actuator 2016F is installed at a corresponding position of each second movable leg 2014 attached to the parent machine 2001. The second actuator 2016F can apply a sliding force to the second movable leg 2014 by controlling the rotational movement (FIG. 79).

Example of Operation of Shock Absorption and Bounce Reduction System 2000 Next, an example of the operation flow of the shock absorption and bounce reduction system 2000 will be described. As a representative, a configuration in which the shock absorbing spring 2002 is not expanded in advance as shown in FIG. 58 will be described. However, as in FIG. 24, the shock absorbing spring 2002 is deformed to extend the shock absorbing spring 2002 in advance. The operation is the same.

  When the first movable leg 2005 first collides with the collision target object 300 having a non-uniform collision surface, the shock absorption and bounce reduction system 2000 according to the third aspect of the present invention is a shock, Achieves rebound and reduced rotational motion.

  One of the first movable legs 2005 first comes into contact with the collision object 300. At this time, since the first restraining mechanism 2015 is released (all the first occlusion members 2015C are not engaged with the first movable leg 2005), the first movable leg 2005 is slid after the contact. (Fig. 80)

  When the first movable leg 2005 performs a sliding motion, the corresponding pin 2015A moves downward, and the corresponding ring of the first restraining wire 2015E is detached from the pin 2015A. The first restraining wire 2015E connected to the detached ring is loosened (FIG. 81).

  When all the first movable legs 2005 come into contact with the object to be collided 300, the rings of all the first restraining wires 2015E are released, and all the first restraining wires 2015E are loosened. The first occlusion member 2015C is not subjected to restraint from the first restraining wire 2015E. The first movable leg 2005 moves in the direction of occlusion. When the first occlusal member 2015C and the serrated groove of the first movable leg 2005 engage each other, the sliding movement of the first movable leg 2005 is prevented. In order to maintain the state in which all the first movable legs 2005 are in contact with the collision surface until the first occlusal member 2015C and the sawtooth grooves of the first movable legs 2005 are engaged, the first restraining actuator 2015F can also be used as an auxiliary (FIG. 82).

  After the restraint by the first restraining mechanism 2015, the shock absorbing spring holding portion 2004 receives a reaction force from the collision surface in the direction opposite to the original traveling direction, and thus stops on the spot. In addition, since the 1st movable leg part 2005 is being fixed by the length along the shape of the to-be-collised object surface, the rotational moment added to the impact-absorbing-spring holding part 2004 is reduced significantly, and an attitude | position is maintained ( (Fig. 83).

  Since the parent machine 2001, the child machine 2006, and the child machine installation unit 2007 try to continue the movement in the original traveling direction due to inertia, the shock absorbing spring 2002 extends. As the shock absorbing spring 2002 extends, the mechanical energy of the parent machine 2001 at the time of collision is gradually converted to the potential energy of the shock absorbing spring 2002. At this time, an upward force is applied to the fixing device 2003 due to friction, but since the force is transmitted so as to strongly tighten the slave unit 2006, the master unit 2001 and the slave unit 2006 remain constrained at this stage (see FIG. 84).

  When the second movable leg 2014 at the lower part of the parent machine 2001 comes into contact with the object to be collided 300, the second movable leg 2014 slides upward. At this time, in order to maintain the state in which all the second movable legs 2014 are in contact with the ground, the second restraining actuator 2016F can be used in an auxiliary manner (FIG. 85).

  In a state where the shock absorbing spring 2002 is sufficiently extended, most of the mechanical energy of the parent machine 2001 is converted to the potential energy of the shock absorbing spring 2002, so that the speed of the parent machine 2001 is sufficiently small. Friction caused by the movement in the contraction direction is transmitted to the fixing device at the moment when the movement in the contraction direction is started after the shock absorption spring 2002 has fully extended (the portion of the shock absorption spring holding portion 2004 that is in contact with the fixing device 2003) However, a downward frictional force is applied to the fixing device 2003, and the claw portion of the fixing device 2003 is opened by this frictional force.In the case of releasing the fixing by the fixing device 2003 at an arbitrary timing, an externally controlled actuator or the like Thus, the claw portion may be opened actively), and the master unit and the slave unit are separated (FIG. 86).

  Almost simultaneously with the separation of the parent device 2001 and the child device 2006, the ring portion of the second restraining wire 2016E that has been hooked on the projection portion 2016A is released, and the second restraining wire 2016E that restrains the second occlusion member 2016C is loosened, The second occlusion member 2016C is engaged with the second movable leg 2014, and the sliding movement of the second movable leg 2014 is prevented (FIG. 87).

  Since the base unit 2001 has a sufficiently low speed and is released in contact with the surface of the collision target 300, the impact and rebound at the time of collision are greatly reduced. Further, since the first movable leg 2005 and the second movable leg 2014 are fixed with a length along the shape of the surface of the collision object, the rotational moment is greatly reduced and the posture is maintained (FIG. 88). .

  After the separation of the parent device 2001 and the child device 2006, the child device 2006 receives a force from the shock absorbing spring 2002 and obtains a speed in the direction opposite to the original traveling direction. When the extended shock absorbing spring 2002 is contracted to the natural length, the slave unit 2006 is separated from the slave unit installation part 2007 and is ejected in the direction opposite to the original traveling direction (FIG. 89).

  In order to control the fall position of the slave unit, the direction of the end of the rail 2008 is changed by bending the rail 2008 by driving the rail control wire 2009 using the rail control actuator 2018 and the rail control device 2019. Slave unit 2006 moves along rail 2008 and is ejected toward the end of rail 2008. When the child device 2006 exceeds the end of the rail 2008, the child device 2006 is no longer restrained by the rail 2008 and performs a parabolic motion (FIG. 90).

INDUSTRIAL APPLICABILITY The present invention can be applied to all problems in which an impact and rebound reduction of (N-1) or less objects must be reduced when an assembly of N moving objects contacts another object. Is possible. Furthermore, it can be applied to any problem that requires the next contact position of one or more re-motion starting objects to be within a certain range. The shape and material of the impacted object are not limited. The following availability is given as an example.
・ Incorporate the system of the present invention into observation equipment when you want to drop multiple observation equipment from the sky and install it at a specified point in a sloped or uneven area such as a volcanic area or disaster site where people cannot enter As a result, the impact applied to a plurality of observation devices is reduced and there is no rebound, so that a plurality of observation devices can be installed at designated locations with high accuracy.
-By incorporating the system of the present invention in front of and behind the vehicle, it is possible to reduce the impact at the time of collision of various shapes and materials.
-By incorporating the system of the present invention below the planetary explorer, it is possible to reduce the impact applied to the probe body during landing, and to prevent a fall on landing on uneven ground.
-By incorporating the system of the present invention in the car stop, it is possible to reduce the damage caused by accidents when the car stop comes into contact with a vehicle of any shape and material.
-By incorporating the system of the present invention on the floor below the high altitude worker, the impact when the high altitude worker accidentally falls and collides with the floor can be mitigated.
-By incorporating the system of the present invention below a drop table on which a person can ride, it can be used for an entertainment machine that can experience free fall.
-By incorporating the system of the present invention into a container for transporting products that are vulnerable to impact, such as glass products, it is possible to contribute to product protection.
・ When exploring the vertical hole in the lunar surface, the probe body can be softly landed in the vertical hole, and a slave unit for communication with the earth can be installed outside the vertical hole. Landing is possible even when the unevenness of the ground in the vertical hole on the lunar surface is severe.
-By incorporating the system of the present invention under the vehicle seat, the impact can be reduced at the time of collision.
-By incorporating the system of the present invention into the landing gear of an airplane or vertical take-off aircraft, it is possible to suppress impacts and bounces against landing on any terrain.
・ Vibration and shock mitigation of machine tools that perform punching and shearing are possible.

100, 200, 1000, 2000 Impact mitigation and bounce reduction system 101, 201, 1001, 2001 Base unit 2001-1 Protruding part 102, 202, 1002, 2002 Shock absorbing spring 103, 203, 1003, 2003 Fixing device 104, 204, 1004, 2004 Shock absorbing spring holding part 105, 205, 1005 Leg 2005 First movable leg 2005-1 Slider 106, 1006, 2006 Slave unit 107, 207, 1007, 2007 Slave unit installation unit 108, 208, 1008, 2008 rail 109 wire 2009 rail control wire 110, 210, 1010, 2010 slave unit outlet 211 restraint device 212 telescopic unit 213 master unit guide unit 2014 second movable leg 2014-1 slider unit 2015 first restraint mechanism 2015A pin 201 5B Gear 2015C 1st engagement member 2015D 1st restraint spring 2015E 1st restraint wire 2015F 1st restraint actuator 20161 1st restraint mechanism 2016A Protrusion part 2016C 2nd occlusion member 2016D 2nd restraint spring 2016E 2nd restraint wire 2016F 2nd restraint actuator 2017 Stopper 2018 Rail control actuator 2019 Rail control device 300 Impacted object

Claims (8)

Legs,
A master unit held by the structure having the legs;
An elastic body connected at one end to the structure having the leg portion;
A slave unit releasably connected to the other end of the elastic body;
With
The base unit is an impact response mitigating device that is releasably fixed to the base unit. The mechanical energy of the parent machine generated by the impact applied to the legs is converted into the potential energy of the elastic body,
The impact response alleviating device according to claim 1, wherein the potential energy of the elastic body is converted into the mechanical energy of the slave unit by releasing the fixation between the slave unit and the master unit. The impact response alleviating device according to claim 1 or 2, wherein the slave unit is releasably connected to the other end of the elastic body, and is moved away from the elastic body by the mechanical energy of the slave unit. The impact response alleviating device according to claim 3, further comprising a guide member that guides a moving direction of the slave unit. The impact response mitigating device according to claim 4, wherein the guide member adjusts a moving direction of the slave unit by tilting or rotating with a predetermined position as a fulcrum. A sensor or mechanism for detecting the timing of releasing the fixation between the parent device and the child device;
6. The apparatus according to claim 1, further comprising: a fixing device that releases the fixation between the parent device and the child device when the sensor or the mechanism detects the timing at which the fixation is released. Shock response mitigation device. The impact response alleviating device according to any one of claims 1 to 6, further comprising an elastic body holding portion that holds the elastic body in an extended state rather than a natural length. Converting the mechanical energy of the base unit held by the leg generated by the impact applied to the leg to the potential energy of the elastic body connected at one end to the leg,
By releasing the fixing of the slave unit connected to the other end of the elastic body and releasably fixed to the master unit, the potential energy of the elastic body is reduced to the dynamics of the slave unit. Shock response mitigation method to convert to dynamic energy.

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