JP6714911B2 - Tilt wing form unmanned aerial vehicle - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a four-engine tilt wing type unmanned aerial vehicle in which at least a front wing is rotated between a forward flight angle and a vertical flight angle.

Japanese Unexamined Patent Publication No. 2009-143268 (Patent Document 1) discloses a flight control system for a four-engine tilt wing type airplane driven by a person. Further, Japanese Patent Laid-Open No. 2014-231253 (Patent Document 2) discloses a flight control system for a four-engine tilt wing unmanned aerial vehicle developed by the Japan Space Agency. This four-engine tilt wing type unmanned aerial vehicle has a front main wing having two electric propellers provided in front of the airframe and a rear main wing having two electric propellers provided at the rear of the airframe. Inside the fuselage, a front main wing rotation mechanism equipped with a front electric power source for rotating the front main wing between a forward flight angle and a vertical flight angle, and a rear main wing between a forward flight angle and a vertical flight angle. It is provided with a rear main wing rotating mechanism having a rear electric power source that is rotated by the electric power generator and a power storage device that serves as a power source for the electric propeller, the front electric power source, and the rear electric power source.

As a two-engine tilt wing type unmanned aerial vehicle in which the front wing rotates, a model of Canadair CL-84 (https://www.youtube.com/watch?v=55F-NknPvz0) is sold and tested. .. This two-tilt-wing unmanned aerial vehicle also has a front main wing rotation mechanism having a front electric power source for rotating the front main wing between a forward flight angle and a vertical flight angle.

JP, 2009-143268, A JP, 2014-231253, A

https://www. youtube. com/watch? v=55F-NknPvz0

The four-engine tilt wing type unmanned aerial vehicle shown in Patent Document 2 is at a research level. The two-tilt unmanned aerial vehicle of Non-Patent Document 1 is also at the research level. Therefore, the conventional tilt-wing type unmanned aerial vehicle can be used for applications such as shooting from above, but is not suitable for carrying luggage.

An object of the present invention is to provide a tilt wing type unmanned aerial vehicle suitable for carrying luggage when a storage battery is used as a driving power source.

A tilt wing type unmanned aerial vehicle to be improved by the present invention includes a fuselage, a front main wing having two or more electric propellers provided in front of the fuselage, a rear main wing provided at the rear of the fuselage, and a front main wing. It is provided with a front main wing rotating mechanism having a front electric power source, which is rotated between a forward flight angle and a vertical flight angle, and an electric propeller and a power storage device serving as a power source of the front electric power source. The tilt wing type unmanned aerial vehicle of the present invention constitutes a luggage compartment inside the body for accommodating luggage behind the front main wing rotation mechanism.

In this way, the luggage compartment can be configured inside the fuselage without exposing the exterior of the fuselage so much that the air resistance is reduced while the forward main wing is at the forward flight angle. Can be transported.

Also, if there are four tiltwing unmanned aerial vehicles, the rear main wing further includes two or more electric propellers on the rear main wing, and the rear main wing includes a rear electric power source for rotating the rear main wing between a forward flight angle and a vertical flight angle. A rotating mechanism is further provided, and a luggage compartment is formed between the front main wing rotating mechanism and the rear main wing rotating mechanism. As a result, the luggage compartment can be arranged in the body, and the air resistance can be minimized.

Further, in the body, the front electric power source may be arranged on the front side of the front main wing, and the rear electric power source may be arranged on the rear side of the rear main wing. Thereby, the luggage compartment can be further expanded.

The front main wing rotation mechanism and the rear main wing rotation mechanism rotate on a screw member that is rotationally driven by a rotary motor, a nut member that is screwed into the screw member, and a nut member that linearly moves by rotation of the screw member. It consists of a slider that is movably provided and a rotary link that has a slit into which the slider is slidably fitted and one end of which is rotatably fixed, and the rotation of one end of the rotary link is used to rotate the main wing. It can be configured to rotate the shaft.

Further, in the tilt wing type unmanned aerial vehicle, if the front main wing and the rear main wing are further rotated by the front main wing rotation mechanism and the rear main wing rotation mechanism after landing and stopping the drive of the electric propeller, the luggage is loaded with the luggage. A luggage holding and carrying-out mechanism for carrying out a carrying-out operation may be provided inside the machine body. In this case, it is preferable that the luggage holding and carrying-out mechanism is configured to carry out the carrying-out operation using the front electric power source and the rear electric power source as drive sources. In this way, the unloading of luggage can be automated. Further, since it is not necessary to separately prepare a drive source for the luggage holding and carrying-out mechanism, it is possible to reduce the number of parts and reduce the weight of the unmanned aerial vehicle. As a result, the flight distance can be extended.

Further, the luggage holding and unloading mechanism includes a front crank driven by a front electric power source and a rear crank driven by a rear electric power source. The front crank and the rear crank unload the luggage at their free ends before starting the unloading operation. It is preferable that when the support and carry-out operation is started, the support ends are rotated in directions away from each other around the fixed end. When the luggage holding/unloading mechanism is configured in this way, the luggage holding/unloading mechanism can be configured with a simple structure.

The luggage holding/unloading mechanism includes a cam mechanism configured to apply a rotational force to the front crank between the front electric power source and the front crank, and applies a rotational force to the rear crank between the rear electric power source and the rear crank. A rear cam mechanism configured to add may be included. This makes it possible to reliably carry out and carry out the luggage with a simple structure.

Furthermore, the luggage holding and unloading mechanism is equipped with a luggage holding and unloading mechanism for carrying out the luggage from the luggage compartment, and when the front main wing and the rear main wing are at the vertical flight angle, the cargo is extended obliquely downward and the cargo is loaded. It is preferably configured to form a slope that slides under its own weight. According to this structure of the luggage holding and carrying-out mechanism, it is possible to carry out the luggage to the veranda by using the slope even if the luggage storage place is set at a high place such as a balcony of an apartment.

The luggage holding and unloading mechanism is provided with a luggage holding and unloading mechanism for unloading the luggage from the luggage compartment, and extends obliquely downward or contracts obliquely upward when the front and rear wings are at a vertical flight angle. It is preferable to have a crane function for lifting the luggage in the luggage storage area. If the luggage holding and carrying-out mechanism is configured in this way, it becomes possible to carry in and carry out luggage using the crane function, using a high place such as a veranda of an apartment as a luggage loading space or a luggage storage space.

When the slope and crane are driven by a dedicated electric power source, the aircraft can be stabilized by reversing the rotation of the electric propeller located far from the slope and crane when extending the slope and crane. ..

Also, when the front and rear wings are in forward flight angle inside the body, three or more wheels are housed inside the body and when the front and rear wings change from forward flight angle to vertical flight angle. Operates to pull three or more wheels out of the fuselage and to retract three or more wheels inside the fuselage when the front and rear wings change from vertical flight angles to forward flight angles A wheel moving mechanism may be provided. The wheel moving mechanism is preferably configured to operate using the front electric power source and the rear electric power source as drive sources. In this way, it is not necessary to separately prepare a drive source for the wheel moving mechanism, so that the number of parts can be reduced and the weight of the unmanned aerial vehicle can be reduced. As a result, the flight distance can be extended.

In addition, the wheel moving mechanism includes a stopper mechanism that fixes the legs that support the three or more wheels when the three or more wheels are in the storage position and when the three or more wheels are in the pull-out position. Is preferred. By providing such a stopper mechanism, the fixed state can be maintained without using electric power, so that a power saving effect can be obtained.

The slope, the crane and the wheels can be naturally provided even when two or more electric propellers are provided only on the front main wing.

(A) And (b) is a front view and a plane which respectively show typically the composition of the wing rotation mechanism in the 1st Embodiment of the tilt wing type unmanned airplane of the present invention, the load holding mechanism, and the wheel moving mechanism. It is a diagram, and parts of the electric propeller and its drive mechanism, a vertical stabilizer, a flight control device, etc., which are not related to essential parts of the present invention, are omitted (the same applies to the following drawings). (A) And (b) is an enlarged front view showing the lock mechanism with which the wing rotation mechanism in the embodiment of Drawing 1 was equipped, respectively. (A), (b) and (c) are front views showing the embodiment of FIG. 1 with other mechanisms omitted to explain the operation of the load holding and carrying-out mechanism in the embodiment of FIG. 1, respectively. .. 3(a), (b) and (c) are enlarged front views showing the wheel moving mechanism in the embodiment of FIG. 1, respectively. FIG. 3 is a view similar to FIG. 1 showing a second embodiment of a four-engine tilt wing type unmanned aerial vehicle of the present invention. FIG. 5 is a view similar to FIG. 1, showing a third embodiment of a 4-tilt wing type unmanned aerial vehicle of the present invention. (A), (b), (c), and (d) are respectively a perspective view when not holding, a perspective view when holding, and a bundled holding load that represent the automatic load separating mechanism of the crane in the embodiment of FIG. It is the bottom view of the binding tool in the state which is doing, and the perspective view which looked at the binding tool from diagonally downward.

Hereinafter, embodiments of a tilt wing type unmanned aerial vehicle of the present invention will be described with reference to the drawings.

[First Embodiment]
The four-engine tilt wing type unmanned aerial vehicle of the embodiment shown in FIGS. 1A and 1B includes an airframe 10 and a front side (left side in FIG. 1) of the airframe 10 in the left-right direction [FIG. b) a pair of left and right front main wings 12 and 12 provided so as to project in the vertical direction] and a pair of left and right provided at the rear of the machine body 10 so as to project in the lateral direction of the machine body 10. The rear main wings 14, 14 (near the tip are omitted) are provided. The pair of front main wings 12, 12 each have two electric propellers (not shown), one for each, and similarly, the pair of rear main wings 14, 14 each have two electric propellers (not shown). ) Has.

The front main wings 12, 12 and the rear main wings 14, 14 rotate about the front main wings rotation shaft 13 and the rear main wings rotation shaft 15, respectively, between the forward flight angle and the vertical flight angle. The front main wings 12, 12 and the rear main wings 14, 14 are fixed to the front main blade rotation shaft 13 and the rear main wings rotation shaft 15, respectively, and the front main wings rotation shaft 13 and the rear main wings rotation shaft 15 are respectively connected to the airframe 10. It is rotatably supported by. As a result, the front main wings 12, 12 and the rear main wings 14, 14 can rotate relative to the airframe 10 about the front main blade rotating shaft 13 and the rear main blade rotating shaft 15, respectively.

The front main wing rotating mechanism for rotating the front main wings 12, 12 is fixed to the front electric motor 16 arranged further forward than the front main wing 12, and fixed to the drive shaft of the front electric motor 16 toward the rear. A male screw shaft 18 that is a screw member that extends and is threaded on the outer peripheral surface and a screw that engages with the male screw shaft 18 are cut on the inner peripheral surface, and the male screw shaft 18 rotates about its axis. Accordingly, the nut 20 that linearly moves along the axial direction of the male screw shaft 18, two rod-shaped cam followers 22 and 22 protruding from the nut 20 in the left and right directions, and grooves for guiding the cam followers 22 and 22, respectively. It is composed of grooved cams 24, 24 provided in the longitudinal direction, and is built in the machine body 10. One ends of the groove cams 24, 24 are fixed to the rotary shaft 13 of the front main wings 12, 12. Therefore, one ends of the groove cams 24, 24 rotate integrally with the front main wing 12 and the rotating shaft 13.

Similarly, the rear main wing rotating mechanism includes a rear electric motor 26, a male screw shaft 28 extending forward, a nut 30 screwed with the male screw shaft 28, and two cam followers 32, 32 protruding from the nut 30. And groove cams 34 and 34 for guiding the cam followers 32 and 32, respectively, and one ends of the groove cams 34 and 34 are fixed to the rotary shafts 13 of the rear main wings 14 and 14, respectively.

Each main wing rotating mechanism is provided with a lock mechanism for fixing the angle of each main wing to the forward flight angle or the vertical flight angle. In FIG. 2, one end of the groove cam 24 is fixed to the rotating shaft 13 fixed to the front main wing 12, and the groove 25 of the groove cam 24 guides the cam follower 22. A solenoid 17 is fixed to the machine body 10 at a position above the rotary shaft 13 and close to the outer peripheral surface of the rotary shaft 13. The solenoid 17 is fixed to the machine body 10 with the plunger 19 projecting downward. A vertical flight angle lock hole 21 and a forward flight angle lock hole 23, which are holes formed in a shape and size into which the plunger 19 is fitted, are formed on the outer peripheral surface of the rotary shaft 13. By fitting the plunger 19, the front main wing 12 can be locked at a predetermined angle. That is, in FIG. 2A, the front main wing 12 is locked at the vertical flight angle by fitting the plunger 19 of the solenoid 17 into the vertical flight angle lock hole 21, and in FIG. 2B, the plunger 19 of the solenoid 17 is locked. The front main wing 12 is locked at the forward flight angle by being fitted into the forward flight angle lock hole 23. When the solenoid 17 is not energized, the plunger 19 projects.

A lock mechanism having the same structure as the lock mechanism formed by the combination of the solenoid 17 and the lock holes 21 and 23 provided in the rotary shaft as described above is also provided in the load holding and unloading mechanism and the wheel moving mechanism described below. However, the description is omitted.

Also, from FIGS. 2A and 2B, the rotating motion of the main wing is also clear. That is, as shown in FIG. 2A, when the nut 20 is at the front end of the male screw shaft 18, the front main wing 12 makes a vertical flight angle. When the front electric motor 16 is driven from this state to rotate the male screw shaft 18 and the nut 20 moves toward the rear end of the male screw shaft 18, the groove cam 24 for guiding the cam follower 22 rotates, and Accordingly, the front main wing 12 also rotates counterclockwise in the drawing, and changes to the forward flight angle as shown in FIG. 2B. When the nut 29 is returned to the position shown in FIG. 2A by reversing the front electric motor 16, the front main wing 12 is also returned to the vertical flight angle.

The electric storage device serving as a power source for the electric propeller, the front electric motor 16, and the rear electric motor 26 is a flat lithium-ion battery built in the front main wings 12, 12 and the rear main wings 14, 14 (not shown). A luggage compartment 36 for accommodating the luggage C is formed between the front main wing rotation mechanism and the rear main wing rotation mechanism of the machine body 10.

The four-engine tilt wing type unmanned aerial vehicle of the present embodiment holds the luggage C in the luggage compartment 36 when the front main wings 12, 12 and the rear main wings 14, 14 are at the forward flight angle, and the front main wings 12, 12 and A load holding and unloading mechanism for carrying out the load C from the luggage compartment 36 after the rear main wings 14, 14 are changed to the vertical flight angle is provided inside the machine body 10.

The luggage holding and unloading mechanism uses the front electric motor 16 and the rear electric motor 26 as drive sources. The luggage holding/unloading mechanism includes a pair of left and right front cranks 38, 38, a front crank shaft 40, a pair of left and right rear cranks 42, 42, a rear crank shaft 44, a driven pulley 46, a timing belt 48, and a drive pulley. 50 and a cam 52. A pair of left and right front cranks 38, 38 are arranged below the front main wings 12, 12 and extend in the front-rear direction to hold a load C near the front end on a free end side horizontal portion 38A and a front end of the horizontal portion 38A. The vertical end 38B extends upward from the upper end of the cam follower 32 and is in contact with the cam followers 32, 32, and has an L-shape when viewed in FIG. 1A. The front crankshaft 40 extends in the right direction, and both ends thereof are fixed to the middle of the vertical portions of the pair of front cranks 38, 38, and the pair of front cranks 38, 38 are rotated around the axis with respect to the body 10. Support as much as possible. The pair of left and right rear cranks 42, 42 are arranged below and slightly forward of the rear main wings 14, 14 and extend in the front-rear direction to horizontally connect with a horizontal portion 42A on the free end side that holds near the rear end of the luggage C on the upper surface. The fixed end side vertical portion 42B extends upward from the rear end of the portion 42A, and has an L shape when viewed in FIG. 1A. The rear crankshaft 44 extends in the left-right direction, and the upper ends of the pair of rear cranks 42, 42 are fixed to support the pair of rear cranks 42, 42 rotatably around the axis with respect to the machine body 10. Then, in the luggage holding/unloading mechanism, the driven pulley 46 fixed to the rear crankshaft 44 with the same axis as the rear crankshaft 44, the timing belt 48 spanning the driven pulley 46, and the timing belt 48 are cross-crossed. The drive pulley 50 and a cam 52 fixed to the drive pulley 50 and having a tip end abutting the cam follower 32.

The front cranks 38, 38 and the rear cranks 42, 42 rotate about the front crankshaft 40 and the rear crankshaft 44, respectively, to hold the luggage C in the luggage compartment 36, and the luggage C for the luggage compartment 36. The angle changes with the carry-out angle carried out from 36. The front cranks 38, 38 and the rear cranks 42, 42 are biased so as to rotate in a direction toward a holding angle for holding the luggage C in the luggage compartment 36 (the biasing mechanism is not shown). That is, the front crank 38 rotates counterclockwise around the front crank shaft 40 as viewed in FIG. 1A, while the rear cranks 42, 42 conversely move around the rear crank shaft 44 in FIG. Each of them is urged by an urging mechanism (not shown) so as to rotate in the clockwise direction when viewed in a).

FIG. 3A shows the load holding/unloading mechanism in the same state as in FIG. When the nuts 20 and 30 are located near the front ends of the male screw shafts 18 and 28, the wing 12 (and 14) is at a vertical flight angle and the load C in the luggage compartment 36 is caused by the front crank 38 and the rear crank 42. Is held. In the holding state, as shown in FIG. 3B, the electric motors 16 and 26 rotate the male screw shafts 18 and 28, the nuts 20 and 30 move rearward, and the male screw shafts 18 and 28 move. Even when it reaches near the center in the front-rear direction and the main wing 12 (and 14) shifts to the forward flight angle, it is still maintained. When the nuts 20 and 30 are further moved from this state, the cam followers 22 and 32 gradually approach the upper end of the front crank 38 and the cam 52, respectively. As shown in FIG. 3C, when the nuts 20 and 30 reach near the rear ends of the male screw shafts 18 and 28, the front crank 38 is pushed by the cam follower 22 and the front crank shaft 40 is viewed as a center. Is rotated in the clockwise direction, and the horizontal portion on the free end side is disengaged from the lower surface of the package C, and the state is changed to the carry-out state. In the rear crank 42, the drive pulley 50 is rotated clockwise in the drawing by the rotation of the cam 52, the crossed timing belt 48 is run, the driven pulley 46 is rotated, and the rear crank 42 is rotated. 42 rotates in the clockwise direction in the drawing around the rear crankshaft 44. As a result, the horizontal portion on the free end side is disengaged from the lower surface of the baggage C and is changed to the carry-out state. At this time, the main wings 12 (and 14) rotate beyond the forward flight angle as shown in FIG. 3C, but there is no particular problem.

When returning from the carrying-out state to the holding state, when the male screw shafts 18 and 28 are reversely rotated to move the nuts 20 and 30 in the forward direction, the pressures of the cam followers 22 and 32 are released and the front crank 38 and the rear crank 38 are released. The crank 42 is rotated by the urging force of the urging mechanism and can return to the holding state shown in FIGS. 3B and 3A.

As described above, the luggage holding and carrying-out mechanism of the 4-tilt-wing unmanned airplane of the present embodiment holds the luggage C during the flight, and automatically drives the luggage C by driving the electric motors 16 and 26 after landing. It can be carried out. That is, the luggage holding and carrying-out mechanism of the first embodiment is configured to carry out the carrying-out operation using the front electric motor 16 and the rear electric motor 26 as drive sources, and can carry out the carrying-out of the luggage automatically. Further, since it is not necessary to separately prepare a drive source for the luggage holding and carrying-out mechanism, it is possible to reduce the number of parts and reduce the weight of the unmanned aerial vehicle. As a result, the flight distance can be extended.

Furthermore, the front crank 38 and the rear crank 42 of this load holding and unloading mechanism do not start the unloading operation during vertical flight as shown in FIG. 3A, but support the load C at the free end until landing, When the front electric motor 16 and the rear electric motor 26 are activated and the carry-out operation is started as shown in FIG. 3C, the front crank shaft 40 and the rear crank shaft 44, which are fixed ends, are pivoted in directions away from each other. Therefore, the load holding/unloading mechanism can be configured with a simple structure.

Further, as shown in FIG. 1( a ), the four-engine tilt-wing unmanned aerial vehicle of the present embodiment has front and rear main wings 12 and 12 and rear main wings 14 and 14 below the front and rear wings respectively. It is equipped with a wheel moving mechanism. The wheel moving mechanism includes a pair of left and right front wheels 54, 54 and a pair of left and right rear wheels 56, 56 inside the airframe 10 when the front main wings 12, 12 and the rear main wings 14, 14 are at the forward flight angle. Operates to house the wheels and pull front wheels 54, 54 and rear wheels 56, 56 out of the aircraft 10 as the front wings 12, 12 and rear wings 14, 14 change from forward flight angles to vertical flight angles. However, when the front main wings 12, 12 and the rear main wings 14, 14 change from the vertical flight angle to the forward flight angle, the front wheels 54, 54 and the rear wheels 56, 56 operate to be housed inside the airframe 10.

The wheel moving mechanism in the present embodiment operates using the front electric motor 16 and the rear electric motor 26 as drive sources. In this way, it is not necessary to separately prepare a drive source for the wheel moving mechanism, so that the number of parts can be reduced and the weight of the unmanned aerial vehicle can be reduced. As a result, the flight distance can be extended.

The front wheels 54, 54 and the rear wheels 56, 56 are attached to the lower ends of a pair of left and right front legs 58, 58 and rear legs 60, 60, respectively, and the upper ends of the front legs 58, 58 and rear legs 60, 60 are respectively It is fixed to the front leg shaft 62 and the rear leg shaft 64, respectively. The front leg shaft 62 and the rear leg shaft 64 are rotatable about the axis with respect to the airframe 10, and therefore the front legs 58, 58 and the rear legs 60, 60 are also centered on the front leg shaft 62 and the rear leg shaft 64. , The angle can be changed respectively.

The lower ends of links 66 are connected to the front leg shaft 62 and the rear leg shaft 64, respectively. Between the front leg shaft 62, the rear leg shaft 64, and the link 66, apart from the lock mechanism (first lock mechanism) between the machine body 10 and each shaft described above, the front leg shaft 62 and the rear leg shaft 62 are provided. A second lock mechanism that locks or unlocks the rotation between 64 and the link 66 is provided, and by controlling this lock mechanism, the front leg shaft 62 and the rear leg shaft 64, and the link 66 are provided. It is possible to select either the locked state or the unlocked state in which the two can be freely rotated with respect to each other.

A biasing mechanism that biases the front leg shaft 62 and the rear leg shaft 64 so as to rotate in a counterclockwise direction in the illustrated state, that is, in a direction in which the front wheels 54 and the rear wheels 56 are pulled out of the machine body 10. Are provided (not shown). The other end of the link 66 is rotatably connected to the right end of the groove cam 68 in FIG. 1A. A long hole 70 is provided in the groove cam 68 in the longitudinal direction, and the cam followers 22, 32 pass through the long hole 70. Since the cam followers 22 and 32 move integrally with the nuts 20 and 30 in the directions along the axes of the male screw shafts 18 and 28, the front wheels 54 and the rear wheels 56 are driven by driving the front electric motor 16 and the rear electric motor 26. Can be pulled out and stored.

Next, the operation of the wheel moving mechanism will be described with reference to FIG. 4(a), (b) and (c), the above-mentioned second locking mechanism is provided in the solenoid 72 fixed to the link 66 and the outer peripheral surfaces of the front leg shaft 62 and the rear leg shaft 64. , A lock hole 76 into which a plunger 74 protruding from the solenoid 72 is fitted. In FIGS. 4A and 4B, the plunger 74 of the solenoid 72 is fitted in the lock hole 76, the front leg shaft 62 and the link 66 are fixed to each other, and the front leg 58 and the link 66 are separated from each other. They are almost lined up. On the other hand, in FIG. 4C, the plunger 74 of the solenoid 72 is retracted, the front leg shaft 62 and the link 66 are unlocked, and they are in a mutually rotatable state. In FIG. 4C, the link 66 and the front leg 58 do not form a straight line, and have a bent shape at the front leg shaft 62.

4(a), 4(b) and 4(c), the nut 20 is located near the front end of the male screw shaft 18 in FIG. 4(a), and the front main wing 12 takes a vertical flight angle. .. At this time, the groove cam 68 of the wheel moving mechanism is in a posture in which the long hole 70 overlaps the male screw shaft 18. When the nut 20 moves rearward from the position shown in FIG. 4A, the long hole 70 is about half the length of the male screw shaft 18, so the cam follower 22 hits the rear end of the long hole 70 and the groove cam 68. The front leg shaft 62 is rotated clockwise by pushing, and the front wheels 54 are stored in the machine body 10 as shown in FIG. 4B. When the nut 20 is moved from the position of FIG. 4A with the second lock mechanism released, that is, the plunger 74 of the solenoid 72 retracted, the front leg shaft 62 causes the front leg shaft 62 to rotate regardless of the rotation of the link 66. Is maintained in a pulled-out state. Note that when shifting from FIG. 4A to FIG. 4B, the first lock mechanism that fixes the front leg shaft 62 to the machine body 10 is released, and conversely from FIG. It goes without saying that during the transition to FIG. 4(c) the first locking mechanism locks the front axle 62 so that the front wheels 54 can support the unmanned aerial vehicle.

It should be noted that the first lock mechanism similar to the mechanism shown in FIG. 2 in the wheel moving mechanism has a front wheel 54 and a rear wheel 56 when the front wheel 54 and the rear wheel 56 are in the storage position and in the pull-out position. It acts as a stopper mechanism that fixes the front leg 58 and the rear leg 60 that support the. Since the plunger of the solenoid that constitutes the first lock mechanism protrudes and maintains the locked state when the power is not supplied, the fixed state can be maintained without using electric power during the period, and a power saving effect can be obtained. If the front leg 58 and the rear leg 60 may be heavily loaded, a more robust mechanical stopper mechanism other than the first locking mechanism may be additionally provided, or The function of the lock mechanism 1 may be substituted.

In the four-engine tilt-wing type unmanned aerial vehicle of the first embodiment, the main wings 12 and 14 are locked at the forward flight angle, the front crank 38 and the rear crank 42 are locked at the luggage holding state, and the front wheels 54 and the rear wheels 56 are included. Is locked in the stowed state and flies forward to the destination [Fig. 2(b)], and the nuts 20 and 30 move from the middle of the male screw shafts 18 and 28 to near the front end in order to switch to the vertical flight above the destination. Then, at the same time when the main wings 12 and 14 change to the vertical flight angle, the first lock of the front leg shaft 62 and the rear leg shaft 64 is released, and the front wheels 54 and the rear wheels 56 are pulled out from the airframe 10, The first lock is applied again to the 62 and the rear leg shaft 64 at the pulled-out position, and the second lock is released [FIG. 1(a), FIG. 2(a), FIG. 4(b)].

When the nuts 20 and 30 move to near the rear ends of the male screw shafts 18 and 28, the free ends of the front crank 38 and the rear crank 42 are separated from each other, and the load C is unloaded. It is carried out [FIG.3(c)]. At this time, since the second locks of the front leg shaft 62 and the rear leg shaft 64 are released, the front wheels 54 and the rear wheels 56 are pulled out and still support the airframe 10 [FIG. 4(c)].

Next, the nuts 20 and 30 are returned near the front ends of the male screw shafts 18 and 28. At this time, the front crank 38 and the rear crank 42 are returned to the luggage holding state by the biasing mechanism and locked [Fig. 3(a)]. ], the front wheels 54 and the rear wheels 56 are returned to the state of FIG. 4(a) while the first lock is maintained, and the second lock mechanism is locked. At the same time, the front main wing 12 and the rear main wing 14 are returned to the vertical flight angle and locked [Fig. 1(a), Fig. 2(a)], and when the appropriate altitude is reached, the front main wing 12 and the rear main wing 14 are unlocked. Then, the nuts 20 and 30 move to the middle of the male screw shafts 18 and 28, are locked at the forward flight angle, and fly forward [FIG. 2(b)]. At the same time, the front wheels 54 and the rear wheels 56 also release the first lock of the front leg shafts 62 and the rear leg shafts 64, and are housed in the body 10 by being biased.

As described above, in the unmanned aerial vehicle of the four-engine tilt wing mode of the first embodiment, the front electric motor 16 is arranged in the body 10 in front of the front main wing 12 and in the rear of the rear main wing 14. The rear electric motor 26 is disposed on the side, and a luggage compartment 36 for accommodating the luggage C is configured between the front main wing rotation mechanism and the rear main wing rotation mechanism.

With such a configuration, the luggage compartment 36 can be configured inside the fuselage 10 without exposing the luggage C to the outside of the fuselage 10 as much as possible. Therefore, the front main wing 12 and the rear main wing 14 are in the forward flight angle state. Thus, the cargo C can be transported while minimizing the air resistance.

Still another embodiment is a two-engine tilt wing type unmanned airplane in which two electric propellers are provided on the front main wing on the left and right, and no electric propeller is provided on the rear main wing, and there is no rear main wing rotation mechanism. The structure is the same as that of the first embodiment except that the luggage compartment is formed behind the front main wing rotating mechanism.

Even in such an embodiment, since the luggage compartment can be configured in the body without exposing the luggage to the outside of the fuselage, the air resistance is small when the front main wing is at the forward flight angle. You can then carry your luggage.

[Second Embodiment]
5A and 5B show the configuration of the main part of a four-engine tilt wing type unmanned aerial vehicle according to the second embodiment. The four-engine tilt wing type unmanned aerial vehicle of the second embodiment has a slope 80 that extends obliquely downward and the luggage C slides down by its own weight when the front wing and the rear wing (not shown) are at the vertical flight angle. And a load holding and unloading mechanism configured to form.

The bottom surface of the luggage compartment 84 of the machine body 82 is formed of a slope 80 that can be stretched while the luggage C is placed. The slope 80 is operated by a rear electric motor 86 which is a drive source for changing the angle of the rear main wing by the same mechanism as that of the first embodiment. That is, the slope 80 is extended by unwinding the wire wound around the pulley 90 with the micro clutch attached to the drive shaft 88 of the rear electric motor 86, and the luggage C is carried out from the tip of the slope 80 to the ground or the veranda. be able to. When the slope 80 is contracted, the rear electric motor 86 is rotated in the reverse direction so that the wire is wound around the pulley 90 connected with the micro clutch. When the slope 80 is stored on the bottom surface of the luggage compartment 84, the micro clutch of the pulley 90 is disengaged and the rear electric motor 86 is operated to change the angle of the main wing that was locked to the vertical flight angle, and to move forward. Transition.

According to the 4-tilt-wing unmanned aerial vehicle of the second embodiment having such a luggage holding and carrying-out mechanism, even if the luggage storage is set at a high place such as a balcony of an apartment, the slope 80 is used. It becomes possible to carry the luggage C to the balcony.

[Third Embodiment]
FIG. 6 shows a configuration of a main part of a four-engine tilt wing type unmanned aerial vehicle according to the third embodiment. The luggage holding and carrying-out mechanism of the four-engine tilt wing type unmanned aerial vehicle of the third embodiment extends obliquely downward or contracts obliquely upward and is in the luggage storage area when the front and rear wings are at vertical flight angles. It has a crane 92 for lifting loads.

Like the slope 80 in the second embodiment, the crane 92 has a pulley (not shown) with a micro clutch attached to the drive shaft of the rear electric motor that is a drive source for changing the angle of the rear main wing. It can be used to expand and contract.

The angle of the crane 92 can also be changed by rotating the drive shaft of the rear electric motor. Further, in the third embodiment, when the luggage C is hung in front of the body 94, the backward propellers 96 of two out of four are turned upside down and the downward force is applied instead of the balancer. Generate and try to balance it. At this time, the body 94 is levitated only by the lift force of the front propeller 98.

With such a configuration of the luggage holding and carrying-out mechanism, it is possible to carry in and carry out the luggage C using the crane 92, using a high place such as a veranda of an apartment as a luggage loading space or a luggage storage space.

FIG. 7 shows an automatic load separating mechanism provided at the tip of the crane according to the third embodiment. As shown in FIG. 7(a), the yarn 100 extending from the tip of the crane 92 is branched into four, one of which is connected with the binding tool 102 and the remaining three of which are connected with the iron ball 104. As shown in (b) and (c), the luggage C is held by binding the binding tool 102 and the iron ball 104 on the bottom surface of the luggage C. As shown in FIG. 7D, the binding tool 102 has a square substrate 106 and a slit provided at the center of three of four side surfaces extending from the substrate 106, and a center of the side surface where the slit is not provided. A square pillar-shaped iron ball locking portion 108 to which the thread 100 is connected, and a pillar for leaving a space through which at least the iron ball 104 can pass between the end edge of the iron ball locking portion 108 and the luggage storage surface. And 110.

As shown in FIG. 7D, in the binding tool 102, the three iron balls 104 are locked to the three slits of the iron ball locking portion 108 on the bottom surface of the luggage C having a rectangular parallelepiped bottom surface. As a result, it is possible to realize the suspension with the thread 100 branched into four as shown in FIG. 7B. When the luggage C is supported by the columns 110 and placed on the surface of the luggage storage area, and the thread 100 is further relaxed, the iron balls 104 are disengaged from the three slits of the iron ball engaging portion 108, and the iron ball engaging portion is released. It is possible to pass through the space between the edge of 108 and the surface of the luggage storage area to the outside of the iron ball locking portion 108, and the binding of the four branched yarns 100 is released. When the thread 100 is raised in this state, the binding tool 102 and the iron ball 104 are pulled out from the bottom surface of the luggage C, and only the luggage C is left in the luggage storage area. The surface of the tip of the column 110 may have an equal area with a flat plate in order to stabilize the luggage C.

In the second and third embodiments described above, the luggage holding/unloading mechanism drives the slope 80 and the crane 92 by the electric motor that rotates the main wing, but the slope 80 and the crane 92 are exclusively used. Of course, it may be driven by the electric power source. If a dedicated electric power source is provided, when the slope 80 and the crane 92 are extended in the above-described second and third embodiments, the lever principle operates, and when the weight of the luggage is heavy, Posture may become unstable. In such a case, reversing the rotation of the electric propeller located on the side far from the slope 80 and the crane 92 can stabilize the machine body.

The above slope, crane and wheels can naturally be provided even when two or more electric propellers are provided only on the front main wing.

As described above, according to the present invention, it is possible to provide a tilt wing type unmanned aerial vehicle which is suitable for carrying luggage when a power storage device is used as a driving power source.

10 Airframe 12 Front main wing 13 Front main wing rotating shaft 14 Rear main wing 15 Rear main wing rotating shaft 16 Front electric motor 18, 28 Male screw shaft 20, 30 Male 22, Shaft nut 22, 32 Cam follower 24, 34 Groove cam 26 Rear electric motor 36 Luggage compartment 38 Front Crank 40 Front crankshaft 42 Rear crank 44 Rear crankshaft 46 Driven pulley 48 Timing belt 50 Drive pulley 52 Cam 54 Front wheel 56 Rear wheel 58 Front wheel leg 60 Rear wheel leg 62 Front wheel shaft 64 Rear wheel shaft 66 Link 68 Groove cam C luggage

Claims (14)

The aircraft,
A front wing having two or more electric propellers provided in front of the airframe;
A rear main wing provided at the rear of the aircraft,
A front main wing rotation mechanism including a front electric power source, which rotates the front main wing between a forward flight angle and a vertical flight angle;
A tilt wing type unmanned aerial vehicle comprising a power storage device serving as a power source for the electric propeller and the front electric power source,
Inside the fuselage, a luggage compartment for storing luggage is formed behind the front main wing rotation mechanism,
The rear main wing further includes two or more electric propellers,
Further comprising a rear main wing rotation mechanism having a rear electric power source for rotating the rear main wing between a forward flight angle and a vertical flight angle,
The luggage compartment is configured between the front main wing rotation mechanism and the rear main wing rotation mechanism,
A tilt wing type unmanned aerial vehicle, wherein the front electric power source is arranged in front of the front main wing and the rear electric power source is arranged in rear of the rear main wing in the body. The aircraft,
A front wing having two or more electric propellers provided in front of the airframe;
A rear main wing provided at the rear of the aircraft,
A front main wing rotating mechanism including a front electric power source, which rotates the front main wing between a forward flight angle and a vertical flight angle,
A tilt wing type unmanned aerial vehicle comprising a power storage device serving as a power source for the electric propeller and the front electric power source,
Inside the fuselage, a luggage compartment for storing luggage is formed behind the front main wing rotation mechanism,
The rear main wing further includes two or more electric propellers,
Further comprising a rear main wing rotation mechanism having a rear electric power source for rotating the rear main wing between a forward flight angle and a vertical flight angle,
The luggage compartment is configured between the front main wing rotation mechanism and the rear main wing rotation mechanism,
Each of the front main wing rotation mechanism and the rear main wing rotation mechanism is a screw member that is rotationally driven by a rotation motor, a nut member that is screwed into the screw member, and the nut that is linearly moved by rotation of the screw member. The slider is rotatably provided on the member, and the rotary link is provided with a slit into which the slider is slidably fitted and one end of which is rotatably fixed. A tilt wing type unmanned aerial vehicle configured to rotate the main wing rotation axis using rotation. The aircraft,
A front wing having two or more electric propellers provided in front of the airframe;
A rear main wing provided at the rear of the aircraft,
A front main wing rotating mechanism including a front electric power source, which rotates the front main wing between a forward flight angle and a vertical flight angle,
A tilt wing type unmanned aerial vehicle comprising a power storage device serving as a power source for the electric propeller and the front electric power source,
Inside the fuselage, a luggage compartment for storing luggage is formed behind the front main wing rotation mechanism,
The rear main wing further includes two or more electric propellers,
Further comprising a rear main wing rotation mechanism having a rear electric power source for rotating the rear main wing between a forward flight angle and a vertical flight angle,
The luggage compartment is configured between the front main wing rotation mechanism and the rear main wing rotation mechanism,
After landing and stopping the drive of the electric propeller, when the front main wing and the rear main wing rotating mechanism further rotate the front main wing and the rear main wing, the luggage is unloaded from the luggage compartment. A loading and unloading mechanism for carrying out an unloading operation is provided in the body,
The tilt wing type unmanned aerial vehicle, wherein the luggage holding and carrying-out mechanism is configured to perform the carrying-out operation by using the front electric power source and the rear electric power source as driving sources. The luggage holding and discharging mechanism includes a front crank driven by the front electric power source and a rear crank driven by the rear electric power source,
The front crank and the rear crank are configured to support the load at their free ends before the carrying-out operation is started, and to rotate away from each other around the fixed end when the carrying-out operation is started. The tilt wing unmanned aerial vehicle according to claim 3. The luggage holding and delivering mechanism includes a front cam mechanism configured to apply a rotational force to the front crank between the front electric power source and the front crank, and between the rear electric power source and the rear crank. The tilt-wing unmanned aerial vehicle according to claim 4, further comprising a rear cam mechanism configured to apply a rotational force to the rear crank. The aircraft,
A front wing having two or more electric propellers provided in front of the airframe;
A rear main wing provided at the rear of the aircraft,
A front main wing rotating mechanism including a front electric power source, which rotates the front main wing between a forward flight angle and a vertical flight angle,
A tilt wing type unmanned aerial vehicle comprising a power storage device serving as a power source for the electric propeller and the front electric power source,
Inside the fuselage, a luggage compartment for storing luggage is formed behind the front main wing rotation mechanism,
A luggage holding and unloading mechanism for carrying out the luggage from the luggage compartment is provided in the body,
The luggage holding/unloading mechanism is configured to form a slope that extends obliquely downward and the luggage slides down by its own weight when the front main wing and the rear main wing are at the vertical flight angle. airplane. The aircraft,
A front wing having two or more electric propellers provided in front of the airframe;
A rear main wing provided at the rear of the aircraft,
A front main wing rotating mechanism including a front electric power source, which rotates the front main wing between a forward flight angle and a vertical flight angle,
A tilt wing type unmanned aerial vehicle comprising a power storage device serving as a power source for the electric propeller and the front electric power source,
Inside the fuselage, a luggage compartment for storing luggage is formed behind the front main wing rotation mechanism,
The rear main wing further includes two or more electric propellers,
Further comprising a rear main wing rotation mechanism having a rear electric power source for rotating the rear main wing between a forward flight angle and a vertical flight angle,
The luggage compartment is configured between the front main wing rotation mechanism and the rear main wing rotation mechanism,
A luggage holding and unloading mechanism for carrying out the luggage from the luggage compartment is provided in the body,
The luggage holding/unloading mechanism has a crane function of pulling up the luggage in the luggage storage area by extending diagonally downward or contracting diagonally upward when the front main wing and the rear main wing are at the vertical flight angle. Tilt wing form Unmanned aerial vehicle. The luggage holding and discharging mechanism is configured to be driven by a dedicated electric power source,
The electric propeller located on the side opposite to the side on which the luggage is located reverses its rotation so as to stabilize the attitude of the machine body when the luggage holding and carrying-out mechanism is in operation. The tilt wing type unmanned aerial vehicle according to 6 or 7. The aircraft,
A front wing having two or more electric propellers provided in front of the airframe;
A rear main wing provided at the rear of the aircraft,
A front main wing rotating mechanism including a front electric power source, which rotates the front main wing between a forward flight angle and a vertical flight angle,
A tilt wing type unmanned aerial vehicle comprising a power storage device serving as a power source for the electric propeller and the front electric power source,
Inside the fuselage, a luggage compartment for storing luggage is formed behind the front main wing rotation mechanism,
The rear main wing further includes two or more electric propellers,
Further comprising a rear main wing rotation mechanism having a rear electric power source for rotating the rear main wing between a forward flight angle and a vertical flight angle,
The luggage compartment is configured between the front main wing rotation mechanism and the rear main wing rotation mechanism,
When the front main wing and the rear main wing are at the forward flight angle in the body, three or more wheels are housed inside the body, and the front main wing and the rear main wing are located at the forward flight angle from the forward flight angle. The fuselage operates to draw the three or more wheels out of the airframe when changing to a vertical flight angle, and the airframe when the front and rear wings change from the vertical flight angle to the forward flight angle. Is equipped with a wheel moving mechanism that operates so as to house the three or more wheels,
The tilt wing type unmanned aerial vehicle, wherein the wheel moving mechanism is configured to operate using the front electric power source and the rear electric power source as driving sources. The wheel moving mechanism is a stopper that fixes a leg portion that supports the three or more wheels when the three or more wheels are in the storage position and when the three or more wheels are in the pull-out position. The tilt wing unmanned aerial vehicle according to claim 9, further comprising a mechanism. The aircraft,
A front wing having two or more electric propellers provided in front of the airframe;
A rear main wing provided at the rear of the aircraft,
A front main wing rotating mechanism including a front electric power source, which rotates the front main wing between a forward flight angle and a vertical flight angle,
A tilt wing type unmanned aerial vehicle comprising a power storage device serving as a power source for the electric propeller and the front electric power source,
Inside the fuselage, a luggage compartment for storing luggage is formed behind the front main wing rotation mechanism,
A luggage holding and unloading mechanism for carrying out the luggage from the luggage compartment is provided in the body,
The tilt wing type unmanned aerial vehicle, wherein the luggage holding/unloading mechanism is configured to form a slope that extends obliquely downward and the luggage slides down by its own weight when the front main wing is at the vertical flight angle. The aircraft,
A front wing having two or more electric propellers provided in front of the airframe;
A rear main wing provided at the rear of the aircraft,
A front main wing rotating mechanism including a front electric power source, which rotates the front main wing between a forward flight angle and a vertical flight angle,
A tilt wing type unmanned aerial vehicle comprising a power storage device serving as a power source for the electric propeller and the front electric power source,
Inside the fuselage, a luggage compartment for storing luggage is formed behind the front main wing rotation mechanism,
A luggage holding and unloading mechanism for carrying out the luggage from the luggage compartment is provided in the body,
The luggage holding/unloading mechanism has a crane function of pulling up the luggage in the luggage storage area by extending diagonally downward or contracting diagonally upward when the front main wing is at the vertical flight angle. airplane. The aircraft,
A front wing having two or more electric propellers provided in front of the airframe;
A rear main wing provided at the rear of the aircraft,
A front main wing rotating mechanism including a front electric power source, which rotates the front main wing between a forward flight angle and a vertical flight angle,
A tilt wing type unmanned aerial vehicle comprising a power storage device serving as a power source for the electric propeller and the front electric power source,
Inside the fuselage, a luggage compartment for storing luggage is formed behind the front main wing rotation mechanism,
When the forward flight angle is within the body, three or more wheels are housed inside the body, and when the front main wing changes from the forward flight angle to the vertical flight angle, the exterior of the body To pull out the three or more wheels, and to store the three or more wheels inside the airframe when the front wing changes from the vertical flight angle to the forward flight angle. Equipped with a wheel moving mechanism,
The tilt wing type unmanned aerial vehicle, wherein the wheel moving mechanism is configured to operate using the front electric power source as a driving source. The wheel moving mechanism is a stopper that fixes a leg portion that supports the three or more wheels when the three or more wheels are in the storage position and when the three or more wheels are in the pull-out position. The tilt wing unmanned aerial vehicle according to claim 13, further comprising a mechanism.

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