JP6554258B1 - HELP Lift stance stabilization system and helicopter lift attitude stabilization system - Google Patents

Abstract

The present invention provides a suspended object posture stabilizing device and system used when lifting a rescued person or the like on a helicopter. A suspension posture stabilization device for a helicopter 1 having a main body 10 for holding each part and an upper connection part provided on the main body 10 for connecting to a rope extending downward from the helicopter. 20, a lower connection part provided in the main body part 10 for connecting a rope that holds the suspended object suspended from the helicopter, an attitude detection part that is provided in the main body part 10 and detects the attitude of the suspended object, In order to stabilize the posture of the suspended object based on the detection result of the posture detection unit, the posture stabilization mechanism including at least two blowers 41R, 41L, 42R, and 42L provided at both ends of the main body, and the main body 10 And a posture stabilization control unit that controls the posture stabilization mechanism. [Selection] Figure 1

Description

  The present invention relates to an apparatus and system for stabilizing the posture when lifting a lifting object such as a rescuee on a helicopter.

  In recent years, helicopters are widely used to lift and rescue sudden sick people, distressed persons, disaster victims, accident victims (hereinafter referred to as rescueee). At this time, rescue equipment such as the rescuer, rescuer or stretcher may rotate due to the influence of wind when lifting, which may make rescue difficult or the rescuer dangerous I had to become

  With regard to these problems, for example, in Patent Document 1, by generating a thrust in the swiveling direction in the suspended beam itself in a state where the suspended load is lifted, the swiveling position of the suspended beam is accurately set by this thrust, and In order to provide a lifting device for a crane that can be fixed at a set position, a wire provided from the electric cylinder is circulated around and guided downward to a sheave provided at one end of the suspension beam, and the lower end thereof Support the suspended load. A balance weight is movably attached to the suspension beam via a drive device, and the balance weight is balanced with the suspended load to hold the suspension beam in a horizontal state. A rotary blade device provided with a blower in which a rotation center axis is arranged at right angles to the length direction of the suspension beam is attached to the other end of the suspension beam. A technical idea is disclosed in which the motor is rotated forward to generate a forward thrust F in the blower, and the motor is rotated backward to generate a negative thrust -F.

  However, this device is a device for a crane that handles a large load, and does not handle a relatively lightweight load such as rescue of a rescued person in a helicopter, and the wire (pendant rope) is separated from the load ) Is provided with a fan on the suspended beam, and means for detecting the turning (rotation) state of the suspended beam is not disclosed, and the operator grasps the state visually. It is recognized that the suspension beam is operated so as to generate a thrust in the turning direction.

  In addition, in Patent Document 2, in order to stabilize the posture of the life saving jig in the rotational direction, a life saving jig for accommodating a victim is suspended on the gyro frame through a wire rope, and rotation of the flywheel and rotation of the gimbal are performed. The turning force of the life-saving jig is suppressed by the turning force around the Z-axis generated by the movement, and the life-direction jig is stabilized in the rotation direction. Then, a vacuum pump for evacuating the inside of the gimbal is provided, the flywheel is rotated in vacuum, the flywheel is enlarged, and a large turning force is obtained without increasing the rotational inertia, and an angular velocity is given to the gimbal The technical idea of increasing the attitude control force at the time is disclosed.

In particular, such an apparatus does not require monitoring of the turning state by the operator or operation for generating thrust, and has an advantage that the apparatus itself controls the posture. There is a problem that a mechanism such as a pump is complicated and large, and the cost is high.

In addition, in order to solve the problems of the prior art described so far, Patent Document 3 by the same applicant as the present application disclosed the technical concept of a device suitable for the attitude stability of a helicopter suspension. Furthermore, there is a need for an apparatus and system that can perform the posture stabilization operation of the lifting object more quickly and more precisely.

JP 7-69579 A Unexamined-Japanese-Patent No. 2003-182972 JP 2018-140860 A

  The problem to be solved is a suspended object posture stabilizing device that is a simple mechanism and does not require the operator's operation when lifting a rescued person or the like on a helicopter, and more quickly, and It is a difficult point to provide an apparatus and system that can more precisely stabilize the posture of the lifting object.

In order to solve the above-mentioned subject, the 1st mode of the present invention is a suspension thing stabilization device for helicopters,
-A main body for holding each part,
An upper connection provided in the body for connection to a rope extending downward from the helicopter;
A lower connection portion provided on the main body portion to connect a rope for holding a lifting object to be lifted to a helicopter, and a posture detection portion provided on the main body portion and detecting a posture of the lifting object;
-A posture stabilization mechanism comprising a blower provided at least two each at both ends of the main body in order to stabilize the posture of the lifting object based on the detection result of the posture detection unit;
-It has an attitude | position stability control part which is provided in the said main-body part and controls the said attitude | position stabilization mechanism, It is characterized by the above-mentioned.

  Here, the main body portion can hold or accommodate each of the parts listed above, and has a slightly elongated shape as a whole, and fans as posture stabilization mechanisms are provided at both ends in the extending direction.

  Further, the main body portion has an upper connection portion, and is connected to a lower portion of a rope to be lifted by a helicopter or the like via a rotatable swivel or the like as necessary.

  In addition, it is suitable that the upper connection part is one place and that a single rope is connected for the attitude | position stability of a lift.

  With this configuration, when the rescued person suspended downward from the lower connection part or the stretcher on which the rescued person is placed is lifted, lowered, or moved in flight, the weight balance of the suspended object is increased. When the posture, especially rotation (turning) in the horizontal plane occurs due to the imbalance of the wind or wind force, the posture detection unit detects it and the posture stabilization mechanism is activated by the control of the posture stabilization control unit By doing this, it becomes possible to automatically maintain the posture.

  As the posture stabilization mechanism, a posture stabilization mechanism composed of four blowers is preferable. In particular, by providing two blowers on both sides, it becomes possible to control the posture more quickly and more precisely.

  Further, according to a second aspect of the present invention, in the hoist posture stabilizing device for a helicopter according to the first aspect of the present invention, the blowing direction of the two fans provided at each end of the main body portion is When the main body is suspended substantially horizontally, a clockwise moment and a counterclockwise moment are applied to the main body.

  In this case, when the main body portion is suspended at the upper central portion and becomes substantially horizontal, for example, if the main body portion starts to rotate counterclockwise, the direction to rotate clockwise at one end of the main body portion It is possible to prevent or return the counterclockwise rotation of the main unit by operating the blower for blowing air and the blower at the other end of the main unit that is also rotated in the same direction to rotate clockwise. .

  Conversely, for example, assuming that the main body starts to rotate clockwise, it is possible to prevent the clockwise rotation of the main body or to return it back by operating the blower in the reverse rotational direction as described above. Become.

  Furthermore, according to a third aspect of the present invention, in the hoist posture stabilizing device for a helicopter according to the first aspect of the present invention, the blowing directions of the two fans provided at respective ends of the main body portion In the plane perpendicular to the extending direction of the main body, the blower is installed so as to be in an obliquely downward direction and at an angle of approximately 120 degrees.

  If it does in this way, when a fan is operated, a moment can be efficiently given to a main part, and the whole structure can be constituted compactly.

  As for the blower, driving force to rotate the main body can be obtained just by operating the blower at one end, but by operating the blowers at both ends simultaneously, quick and precise attitude control of the main body is possible. become.

  In addition, some blowers are capable of reverse rotation, and it is considered that similar operation is possible by using one such blower at each end and rotating in forward and reverse directions. It is done.

  However, the forward rotation and reverse rotation of the fan often differ in their output and characteristics, so complex control is required, and rapid and accurate attitude control is difficult. A single blower is desirable.

  The number of blowers is preferably two at each end, but may be three or more for the purpose of performing fine control.

  In addition, although it is desirable that the installation direction of the blower has an angle of approximately 120 degrees in a plane perpendicular to the longitudinal direction of the main body, it is not limited to this angle, and if it is 0 degree or more The angle may be smaller than 120 degrees, such as approximately 60 degrees, approximately 90 degrees, etc., and greater than 120 degrees, for example, approximately 150 degrees, approximately 180 degrees (the opposite direction), or an angle exceeding 180 degrees. Also good.

  Furthermore, these angles may be made variable stepwise or continuously, and may be set to an optimum angle according to the use conditions.

  If variable, different angles may be used during actual operation and during transportation / storage. That is, at the time of transportation and storage, the blower may be positioned at approximately 180 degrees as a shape without a protrusion.

  Moreover, although the ventilation direction was located in the same plane, it does not need to be on the same plane. The relationship may be a so-called position of twist.

  Also, the direction of air blowing is obliquely downward and sucked in from the side closer to the main body part and blown out to the far side from the main body part, but may be reversed depending on the overall configuration.

  In addition, it is desirable that all the at least four blowers have the same direction as described above. However, depending on the entire configuration, it may be effective to reverse a part of the direction.

  Further, according to a fourth aspect of the present invention, there is provided the hoist according to the first aspect of the present invention, wherein a part or all of at least two fans provided at both ends of the main body are provided. It is characterized by being a ducted fan.

  Here, the ducted fan has a structure in which a propeller-shaped fan is covered with a cylindrical cover (duct), and has the advantage that all airflow generated from the propeller can be rectified in the direction of travel without losing airflow. There is an advantage such as high safety because it is covered by a fan, and it is preferable to make all ducted fans for the present suspension posture stabilization device, but it is a part There are some effects.

  However, even if it is an air blower other than that, it is also possible to apply to the present invention according to the feature of each air blower.

  According to a fifth aspect of the present invention, in the suspended object posture stabilizing device for a helicopter according to the first aspect of the present invention, the posture detector is a gyro sensor.

  According to this, the gyro sensor can detect various attitudes (displacement) in addition to the rotation angle, and advanced attitude control becomes possible. In recent years, a small and high-performance gyro sensor that can be used for a smart phone or the like is available. By using the gyro sensor, the structure of the apparatus is simple and low cost can be realized.

A sixth aspect of the present invention is a posture stabilization system for a helicopter suspension,
-A helicopter,
-A rope extending from the helicopter;
-It may be characterized by having the lifting object posture stabilization device of the 1st mode of the present invention connected to the above-mentioned rope.

  In this way, as the system including the helicopter, the purpose of posture stabilization of the lifting object can be achieved.

  In the lifting object posture stabilization device and system of the present invention, when lifting a rescued person to a helicopter, it is a simple mechanism, and the operation of the operator is unnecessary, and further, it is quicker and more. An apparatus and system capable of finely stabilizing the posture of the lifting object could be realized.

It is the perspective view seen from the upper direction of the lifting object posture stabilization device for helicopters of one embodiment of the present invention. It is the perspective view seen from the downward direction of the lift posture stabilization device for helicopters of one embodiment of the present invention. It is a functional block diagram of the lifting object posture stabilization device for helicopters of one embodiment of the present invention. 1 is a perspective view of a helicopter lift posture stabilization system according to an embodiment of the present invention. FIG. 1 is a side view of a lift posture stabilization device for a helicopter according to an embodiment of the present invention. It is a perspective view which shows the time of non-operation of the lift posture stabilization apparatus for helicopters of one Embodiment of this invention.

  One embodiment of the present invention will be described using the drawings. FIG. 1 is a perspective view of a helicopter suspension posture stabilizer according to an embodiment of the present invention as viewed from above, and FIG. 2 is a perspective view of a helicopter suspension posture stabilizer according to an embodiment of the present invention. FIG. 3 is a functional block diagram of a lifting object posture stabilization device for a helicopter according to an embodiment of the present invention.

  FIG. 4 is a perspective view of a helicopter lifting object posture stabilization system according to an embodiment of the present invention.

  The helicopter lifting object posture stabilization device 1 is coupled to the main body 10 with a rotatable swivel 102 at the lower end of the rope 101 drawn from the helicopter 100 in the middle.

  Here, the term “rope” is used as a generic term, but any wire or wire rope may be used as long as it has a string shape for connection.

  As shown in FIG. 1, the main body 10 of the helicopter suspended object posture stabilizing device 1 includes an upper base 11 having an elongated rectangular plate shape and a recessed central portion, and an elongated rectangular plate shape having a lower surface facing the upper base. The side base 12, two columns 13a and 13b for fixing the upper base and the lower base at predetermined intervals, four fan holders 14a, 14b and 14c fixed to the columns 13 and the lower base 12 , 14d, and a device mounting portion 15 fixed to the lower base 12.

  An upper connection portion 20 such as an eyebolt having an annular protrusion, which is used when the upper base 11 is lifted by a helicopter hoist or the like, is fixed to the recessed portion. The auxiliary connection portions 21a and 21b such as eyebolts having annular projections, which are used for the purpose of lifting the arm, are fixed.

  The upper connecting portion 20 is provided at the recessed portion so that the apparatus can be pulled up as much as possible when lifted by the hoist of the helicopter, such as workability and safety. The effect is great.

  Further, the shape of the upper connection portion 20 is not limited to that illustrated, and any shape may be used as long as the rope can be connected.

  The lower base 12 is provided with lower connection parts 30a, 30b, and 30c consisting of three eyebolts at both ends and the central part, and an annular projection is used to mount the support such as the stretcher 103 etc. Connect the stretching rope 104. As a result, the stretcher 103 can be lifted in a fan shape.

  In the figure, three places are provided, but the number is not limited. Moreover, the shape is not limited to what was shown in figure, either, as long as it is a shape which can connect a rope.

  Further, in the vicinity of one end of the elongated main body 10, the two fans 41R and 41L are held by screws, directly or via an intermediate member, to the fan holders 14a and 14b. Further, in the vicinity of the other end, the two blowers 42R and 42L are held by screws with the blower holding portions 14c and 14d directly or via an intermediate member. These blowers are collectively referred to as a posture stabilization mechanism 40.

  FIG. 5 is a side view of the helicopter lifting object posture stabilizer according to the embodiment of the present invention. Here, the blowing directions of the two blowers 41R and 41L provided at one end of the main body 10 are all oblique within the plane perpendicular to the longitudinal extension direction of the main body 10, as indicated by arrows in the figure. It has an angle of approximately 120 degrees in the lower direction, and is sucked from the side closer to the main body 10 and blown away from the main body 10.

  Similarly, the blowing directions of the two fans 42R and 42L provided at the other end of the main body portion 10 are all in a direction obliquely downward in a plane perpendicular to the longitudinal extension direction of the main body portion 10, and substantially It has an angle of 120 degrees, so that it sucks from the side closer to the main body 10 and blows it away from the main body 10.

  In this way, when the main body 10 is suspended from the helicopter substantially horizontally, the blowing direction of the blower 41R provided at one end of the main body 10 and the blowing direction of the blower 42R provided at the other end are determined. These are directions in which a clockwise moment is applied to the main body 10.

  Further, the air blowing direction of the air blower 41L provided at one end of the main body 10 and the air blowing direction of the air blower 42L provided at the other end are both directions for applying a counterclockwise moment to the main body 10.

  The fans 41R, 41L, 42R, 42L are preferably ducted fans. The ducted fan has a structure in which a propeller-like fan is covered with a cylindrical cover (duct), and it is possible to rectify all the air flow generated from the propeller in the forward direction without releasing the air flow.

  Next, the posture detection unit 50, the posture stability control unit 60, the power supply unit 70, and the like are mounted and fixed on the device mounting unit 15 of the main body unit 10.

  The posture detection unit 50 is a sensor for detecting the posture of the main body unit 10, and in particular, can detect a horizontal rotation angle as indicated by an arrow in FIG. 4.

  As such a sensor, a small-sized, high-performance magnetic or optical angle sensor has been put to practical use, and may be used.

  In addition, since the angular velocity can be obtained by using the gyro sensor, it can be integrated to obtain the displacement of the angle, and various attitudes can be detected, and highly accurate control can be performed.

  In addition, as a gyro sensor, the thing of the vibration type reduced in size using IC type MEMS technology is put to practical use, and a simple and highly accurate attitude detection unit 50 can be realized by using such a thing. .

  The posture stabilization control unit 60 is a control unit having a microprocessor, a memory, and the like, performs various controls, and may be integrated with the posture detection unit 50 if it is an IC type gyro sensor. .

  The power supply unit 70 is a storage battery for supplying power to the posture stabilization mechanism 40, the posture detection unit 50, the posture stabilization control unit 60, and the like. The power supply unit 70 is not necessary when power is supplied from the helicopter body, and may be another battery, a generator, a solar battery, or the like, instead of a storage battery.

  Next, the operation of the suspended object posture stabilizing device 1 for helicopters will be described.

  FIG. 3 is a functional block diagram of the lifting object posture stabilization device 1 for a helicopter according to an embodiment of the present invention.

  Here, the case where a sudden sick person is placed on the stretcher 103 and transported by the helicopter 100 will be described as an example.

  First, when lowering the stretcher 103 or rescue worker with the rope 104, the posture stability control unit 60 is turned on to store the initial state. At the time of the suspension, the posture stability control described later can be performed.

  Next, when the stretcher 103 is lowered to the ground, the posture stabilization control unit 60 is once turned off. The stretcher 103 on which the suddenly ill person is placed extends the rope 104 from the corner, and the rope 104 is connected to each lower connection part 30 of the suspended object posture stabilizing device 1.

  In this initial state, the stretcher 103 is adjusted to be horizontal and free from rotation and twisting, and in this state, the operator turns on the posture stabilization control unit 60.

  Next, it is assumed that the stretcher 103 rotates clockwise (clockwise) as viewed from above in the horizontal plane due to the influence of wind or the like while the helicopter 100 ascends and stops in the air or during transfer. .

  Then, the main body unit 10 similarly rotates rightward, and the posture detection unit 50 detects the rotation angle. The detection signal is transmitted to the posture stabilization control unit 60, and a method for correcting the rotation counterclockwise (counterclockwise) and returning to the original state is calculated.

  Here, the posture stability control unit 60 automatically operates the blower 41L at one end of the main body 10 and the blower 42L at the other end to rotate the main body 10 counterclockwise. Issue instructions to activate the blower.

  When the main unit 10 rotates leftward, the blower 41 R at one end of the main unit 10 and the blower 42 R at the other end are operated to rotate the main unit 10 clockwise. The posture stabilization control unit 60 issues an instruction to automatically start the blower.

  In addition, it is possible to appropriately control the air volume to be blown and the air blowing time by utilizing feedback control, accumulated data in the past, and the like.

  In either case, since the two fans at both ends generate moments in the same direction and in the same direction, smooth and quick correction of rotation is performed, and the transfer of the stretcher 103 to the safe and the stretcher 103 is performed. Useful for relieving anxiety of the rescuer.

  The air flow rates of the two fans in the same rotation direction (for example, 41R and 42R) may differ depending on the detected rotation angle and the speed of displacement of the rotation angle, etc. The blowers (eg, 41R and 41L) can be activated at the same time to keep them immobile from that position, or even if only one of the two blowers at each end is good. possible.

  In addition, although the posture detection unit 50 detects the rotation angle of the main body 10 in the horizontal plane, it may be tilted with respect to the vertical axis, that is, the whole lifting object may be displaced without rotating by wind power. Also in this case, when a gyro sensor is used as the posture detection unit 50, detection is possible.

  In that case, in the posture stability control unit 60, for example, two blowers 41R and 41L at one end of the main body 10 or two blowers 42R and 42L at the other end of the main body 10, and further, three to three. Four blowers can be operated simultaneously to correct such tilt.

  Furthermore, rotation in the horizontal plane and tilting with respect to the vertical axis may occur together. In this case as well, the correct posture can be obtained by adjusting the air blowing direction, air blowing amount, air blowing time, etc. of the four fans. Is possible.

  In addition, one end of the main body may be displaced downward due to the weight of the lifting object or the wind force. Even in that case, since the blower blows out air obliquely downward, it is possible to push it upward by simultaneously operating two blowers at the end thereof.

  In the above description, the number of blowers is two at each end, but may be three or more for the purpose of performing more precise control.

  In the description so far, it is desirable that the installation direction of the blower is fixed at an angle of about 120 degrees in a plane perpendicular to the longitudinal direction of the main body, but it is limited to this angle. If it is 0 degree or more, it may be less than 120 degrees, such as approximately 60 degrees, approximately 90 degrees, or greater than 120 degrees, for example, approximately 150 degrees, approximately 180 degrees (opposite direction), or The angle may be more than 180 degrees.

  Furthermore, these angles may be varied stepwise or continuously, and may be set to an optimal angle according to the use conditions.

  In order to realize these, a plurality of screwing positions of the fan holding portion 14 and the fans 41 and 42 may be provided, and the positions may be changed. However, the method is not limited to the method, and any method may be used as long as it can change and fix the angle. In the case of variable, different angles may be used between actual operation and non-operation (at the time of transportation and storage).

  FIG. 6 is a perspective view showing the non-operating state of the suspended object posture stabilizing device for a helicopter according to one embodiment of the present invention. As described above, the angle formed by the two blowers at the respective end portions may be fixed at a position of about 180 degrees, and may be a shape without a protrusion, which is convenient for transportation and storage.

  In the above description, the air blowing direction is located in the same plane, but it may not be in the same plane. A relationship such as a so-called twist position may be used. Even in the twisted position, it is possible to set the angle as described above.

  Also, in the above explanation, the direction of air flow is also sucked obliquely downward from the side closer to the main body and blown out farther from the main body, but it may be reversed depending on the entire configuration. .

  In addition, although it is desirable that the directions of the above-described air flow be the same for all the at least four fans, it may be effective to partially reverse the direction depending on the entire configuration.

  Also, in the above description, the method of transmitting the initial state to the posture stabilization control unit 60 is by the operator, and the subsequent operation is automatically performed. It may be performed by operation.

  For example, when an unexpected situation occurs and the rotation angle cannot be corrected, an emergency stop may be performed or an instruction may be given to the blower manually. By doing so, safer use is possible.

  The lifting object posture stabilizing device of the present invention is effective for lifting a rescued person to a helicopter and the like, and has an industrial applicability because it is useful for life saving and the like.

DESCRIPTION OF SYMBOLS 1 Helicopter suspended object attitude | position stabilization apparatus 10 Main-body part 11 Upper base 12 Lower side base 13 Support | pillar 14 Blower holding | maintenance part 15 Equipment mounting part 20 Upper connection part 30 Lower connection part 40 Posture stabilization mechanism 41R, 41L, 42R, 42L 50 Attitude Detection Unit 60 Attitude Stabilization Control Unit 70 Power Supply Unit 100 Helicopter 101 Rope 102 Swivel 103 Stretcher

Claims (5)

A main body for holding each part,
An upper connecting portion provided in the main body for connecting to a rope extending downward from the helicopter;
A lower connection provided on said body for connecting a rope holding a lifting object to a helicopter;
An attitude detection unit provided in the main body part for detecting the attitude of the suspended object;
In order to stabilize the posture of the lifting object based on the detection result of the posture detection unit, the main body portion is suspended substantially horizontally two by two at both ends of the main body portion in a direction in which the air blowing direction is obliquely downward. A posture stabilization mechanism comprising a fan fixed at a predetermined angle so as to provide the main body with a clockwise moment and a counterclockwise moment .
And a posture stabilization control unit provided on the main body and controlling the posture stabilization mechanism. The helicopter lifting object posture stabilizer according to claim 1, wherein the blower is installed such that the fixed predetermined angle of the blower has an angle of about 120 degrees. The helicopter suspension posture stabilizing device according to claim 1, wherein a part or all of the blowers provided two by two at both ends of the main body part are ducted fans.   2. The suspended object attitude stabilization device for a helicopter according to claim 1, wherein the attitude detection unit is a gyro sensor. With a helicopter,
A rope extending from the helicopter;
A helicopter lift attitude stabilization system, comprising: the helicopter lift attitude stabilizer according to claim 1 connected to the rope.