WO2017188041A1 - 鉛直投下装置 - Google Patents

鉛直投下装置 Download PDF

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Publication number
WO2017188041A1
WO2017188041A1 PCT/JP2017/015434 JP2017015434W WO2017188041A1 WO 2017188041 A1 WO2017188041 A1 WO 2017188041A1 JP 2017015434 W JP2017015434 W JP 2017015434W WO 2017188041 A1 WO2017188041 A1 WO 2017188041A1
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WO
WIPO (PCT)
Prior art keywords
transport container
fixed
bottom plate
dropping device
shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/015434
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English (en)
French (fr)
Japanese (ja)
Inventor
紀代一 菅木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Prodrone Co Ltd
Original Assignee
Prodrone Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Prodrone Co Ltd filed Critical Prodrone Co Ltd
Publication of WO2017188041A1 publication Critical patent/WO2017188041A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
    • B64D1/12—Releasing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
    • B64U2101/47—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting for fire fighting

Definitions

  • the present invention relates to a vertical dropping device, and more particularly, to a technique for dropping a dropped object vertically downward from a small unmanned airplane having a plurality of rotor blades.
  • Multicopter is a type of helicopter equipped with multiple rotors, and it flies while balancing the aircraft by adjusting the rotational speed of each rotor. Since the multicopter has a simple structure unlike the helicopter, it has excellent maintainability, and the aircraft can be configured at a relatively low cost.
  • Patent Document 1 discloses an apparatus for dropping a fire extinguisher made of water or chemicals from a helicopter on which a pilot is boarded to a fire spot.
  • the extinguishing agent dropping device of Patent Document 1 includes an infrared camera attached to a helicopter so as to face downward and a laser distance measuring device attached so as to face directly below, and the output of the laser ranging device and the helicopter The extinguishing agent is automatically dropped when the arrival point of the extinguishing agent calculated from the flight speed coincides with the infrared radiation point of the fire captured by the infrared camera.
  • the fire extinguishing agent dropping device of Patent Document 1 is arranged such that an infrared camera for photographing a fire point faces the lower front of the helicopter (Claim 1). This means that the extinguishing agent dropping device of Patent Document 1 is based on the idea of dropping the extinguishing agent in a parabolic shape while flying the helicopter. Moreover, since the extinguishing agent dropped by the extinguishing agent dropping device of Patent Document 1 is water or chemicals (Claim 1), it is estimated that the dropped extinguishing agent diffuses widely.
  • the problem to be solved by the present invention is to provide a vertical dropping device capable of dropping a dropped object vertically downward from a small unmanned airplane to a target point.
  • a vertical dropping device of the present invention includes a small unmanned airplane including a plurality of rotor blades, a transport container that can store and drop a dropped object, and an actuator that operates the transport container.
  • the transport container is fixed to the lower part of the small unmanned aerial vehicle so that it cannot move relative to each other, and the bottom part of the transport container is composed of two bottom plate parts arranged side by side in the width direction.
  • each bottom plate portion is inclined downward at the same inclination angle from the rear end toward the front end.
  • the two bottom plate portions can be developed simultaneously and in a symmetrical locus.
  • Two bottom plate parts constituting the bottom of the transport container in a state where the transport container that can be deployed at the bottom is fixed to a small unmanned airplane having a plurality of rotor blades and the small unmanned airplane is hovered directly above the target point are deployed in a simultaneous and symmetrical locus, the dropped object accommodated in the transport container can be dropped vertically downward.
  • the dropped object in the transport container can be stably placed around the boundary line of these bottom plate portions, and the bottom portion is developed. It is possible to prevent the dropped article from rolling down from one of the half cylinders.
  • the swing of the transport container during hovering can be minimized.
  • the transport container has a main body having a cylindrical outer shape when the bottom is closed, and two lids that close the openings at both ends of the main body, and the main body is either Two half cylinders divided into left and right when viewed from the opening, the lower half of the two half cylinders constitutes the bottom, and the upper end of each half cylinder is the
  • the fixed shaft which is a common shaft body arranged in parallel with the upper end portion, is supported so as to be rotatable along the circumferential direction of the fixed shaft, and the two half cylinders are symmetrical at the same time. It is preferable that development is possible with a locus.
  • the main body has a rectangular tube-shaped outer shape when the bottom is closed, and each of the half cylinders has an L-shaped cross section viewed from one of the openings, and the two bottom plates It is preferable that convex teeth that are alternately provided along the longitudinal direction are formed at the tip of the portion, and the teeth of the two bottom plate portions are meshed when the bottom is closed.
  • the main body portion is constituted by two half cylinders having a L-shaped cross section, and the tooth portions provided at the tips of the bottom plate portions mesh with each other, so that the bending rigidity of the main body portion in each plane direction is enhanced. .
  • the transport container further includes a synchronization mechanism that synchronizes opening and closing operations of the two half cylinders, and the synchronization mechanism includes a fixed link piece and two movable link pieces that are link pieces in which elongated holes are formed. And a movable shaft that is a common shaft inserted through the long holes of all the link pieces, the fixed link piece is on the fixed shaft, and the two movable link pieces are on the half cylinders.
  • Each of the fixed link pieces is disposed at an angle in which the elongated hole extends in the vertical direction, and each movable link piece includes the movable shaft of the elongated hole. It is preferable that they are disposed at a symmetrical angle with respect to the fixed link piece so that only the inserted portion overlaps the elongated hole of the fixed link piece.
  • the opening and closing angles of the two half-cylinders are determined in a unified manner by the position of the movable shaft in the long hole of the fixed link.
  • the other half cylinder is also opened and closed in synchronization with the operation, and the opening and closing timing, opening and closing speed, and opening and closing angle of these two half cylinders are synchronized. Structurally secured.
  • each movable link piece is arranged between the two fixed link pieces in the axial direction. It is preferable that
  • the actuator is connected to only one of the two half cylinders.
  • Only one of the half cylinders is opened and closed by the actuator, and the other half cylinder is configured to follow the operation of the one half cylinder by the synchronization mechanism.
  • the bottom plate part can be opened and closed simultaneously and in a symmetrical locus.
  • At least one of the two lid bodies is a rotary lid supported on the fixed shaft so as to be rotatable in the circumferential direction around the fixed shaft, and the rotary lid is formed by an elastic member.
  • the rotating lid is always urged toward the main body, the rotation of the rotating lid is restricted at a position where the opening is closed, and the rotating lid is separated from the transport container against the urging force of the elastic member. It is preferable that the rotation is possible.
  • the dropped object When storing the dropped object in the transport container, if it is necessary to open the semi-cylinder of the transport container and store the dropped object, either work by turning the small unmanned airplane upside down or remove the transport container from the small unmanned airplane. Have to work.
  • the transport container is provided with the rotating lid, the dropped object can be accommodated in the transport container from the opening in which the rotating lid is opened, and the dropped object can be stored efficiently.
  • a camera that faces vertically downward when the bottom is closed is disposed on the bottom.
  • the dropped object accommodated in the transport container is dropped vertically below the bottom as the bottom develops.
  • a camera that shoots vertically below the bottom of the transport container allows the operator to adjust the airborne position of the small unmanned airplane while confirming the drop position of the dropped object from the image taken by the camera. It becomes. Thereby, the hit accuracy of the dropped object can be remarkably improved.
  • the vertical dropping device As described above, according to the vertical dropping device according to the present invention, it is possible to drop a dropped object vertically from a small unmanned airplane to a target point.
  • the vertical drop device of the present embodiment is a device that moves to a fire point by remote control by wireless communication and drops a fire bomb vertically downward from the sky to the fire point.
  • FIG. 1 is a perspective view showing an appearance of a vertical dropping device 90 according to the present embodiment.
  • the vertical dropping device 90 is mainly composed of a multicopter 91 which is a small unmanned airplane including a plurality of rotor blades 911 and a transport container 92 fixed to the lower part thereof so as not to be relatively movable.
  • the multicopter 91 moves to a position directly above the fire point according to the operator's instruction, and expands the transport container 92 in the air while hovering, so that a spherical fire extinguisher 93 (dropped object) accommodated in the transport container 92 is obtained. To the fire point.
  • “relatively impossible” means that the multicopter 91 and the transport container 92 are integrally connected by a non-deformable member, and there is no room for each to move independently. Thereby, the swinging of the transport container 92 during the hovering of the multicopter 91 is minimized.
  • the multicopter 91 in this embodiment is provided with the six rotary blades 911, the number of the rotary blades 911 may be four.
  • FIG. 2 is a block diagram showing a functional configuration of the vertical dropping device 90.
  • the multicopter 91 is mainly composed of a flight controller 83 that controls the attitude and flight operation of the multicopter 91 in the air, a plurality of rotor blades 911 that generate lift by rotating the multicopter 91, and a pilot (transceiver 81).
  • a transmitter / receiver 82 that performs wireless communication with the battery
  • a battery 84 that supplies electric power thereto.
  • the flight controller 83 includes a control device 831 that is a microcontroller.
  • the control device 831 includes a CPU that is a central processing unit, a RAM / ROM that is a storage device, and a PWM controller that controls the DC motor 86.
  • the DC motor 86 is a plurality of outer rotor type DC brushless motors, and a rotary blade 911 is attached to the output shaft of each DC motor 86.
  • An ESC (Electric Speed Controller) 85 is disposed for each DC motor 86 and controls the rotational speed of each DC motor 86 based on an instruction from the PWM controller.
  • the flight controller 83 includes a sensor group 832 and a GPS receiver 833, which are connected to the control device 831.
  • the sensor group 832 of the multicopter 91 includes an acceleration sensor, a gyro sensor (angular velocity sensor), an atmospheric pressure sensor, a geomagnetic sensor (electronic compass), and the like.
  • the RAM / ROM of the control device 831 stores a flight control program in which a flight control algorithm during the flight of the multicopter 91 is implemented.
  • the control device 831 uses the information acquired from the sensor group 832 to control the attitude of the multicopter 91 with a flight control program.
  • the flight operation of the multicopter 91 may be performed manually by the operator, or an autonomous flight program in which a flight plan such as GPS coordinates, altitude, flight route, etc. is parameterized is separately implemented and allowed to fly autonomously. Also good.
  • Servo 70 (actuator) that is a drive source for opening and closing the transport container 92 is disposed in the transport container 92.
  • the servo 70 is connected to the PWM controller of the control device 831.
  • the drop control program registered in the RAM / ROM of the control device 831 operates the servo 70 according to an instruction from the operator (transmitter / receiver 81) to open and close the transport container 92.
  • the unfolding operation of the transport container 92 by the servo 70 may be automatically performed on condition that, for example, the multicopter 91 has arrived at a preset coordinate position.
  • FIGS. 3 is a perspective view of the transport container 92
  • FIG. 4 is a front view of the transport container 92
  • the transport container 92 mainly includes a main body 20 having a rectangular tube-shaped outer shape, a lid 30 that is two rectangular plate-like members that block openings at both ends of the main body 20, and a drive that opens and closes the main body 20.
  • the main body 20 has a right half cylinder 21 and a left half cylinder 22 which are two half cylinders divided into left and right when viewed from any opening of the main body 20, and these half cylinders 21. , 22 each have a L-shaped cross section viewed from the opening (see FIG. 6).
  • the right bottom plate portion 21a and the left bottom plate portion 22a which are lower halves of the right half cylinder body 21 and the left half cylinder body 22, constitute the bottom portion 20a of the transport container 92.
  • the upper surfaces of the bottom plate portions 21a and 22a are the rear ends. It is inclined downward at the same inclination angle from the tip to the tip.
  • convex tooth portions 21d and 22d provided alternately along the longitudinal direction are formed at the tips of the bottom plate portions 21a and 22a, and these tooth portions 21d and 22d are closed on the bottom portion 20a. Sometimes they are engaged with each other.
  • the inclination angle of the bottom plate portions 21a and 22a is 45 degrees.
  • the inclination angle is determined on the condition that the two bottom plate portions have the same inclination angle. You may change suitably according to a magnitude
  • each semi-cylinder body 21 and 22 in this embodiment is formed in an L-shaped cross section, and a tooth part in the front-end
  • Each semi-cylindrical body may have a semicircular or polygonal cross section depending on the shape and size of the dropped object, provided that the semi-cylindrical body has a cylindrical shape when the bottom is closed.
  • the upper surfaces of the bottom plate portions 21a and 22a do not have to be flat surfaces, and there are curved surfaces or a plurality of flat surfaces whose inclination angles are gradually reduced from the rear end toward the front end (approaching the horizontal angle stepwise). It may be a continuous surface.
  • the fixed shaft 40 which is a common shaft body arranged in parallel with these upper end portions is provided at the upper end portions of the half cylinders 21 and 22.
  • connecting pieces 21c, 22c made of three plate-like members are located at both ends in the longitudinal direction of each half cylinder 21, 22 and the center thereof. Each is arranged.
  • the upper end portions of the half cylinders 21 and 22 are rotatably supported on the fixed shaft 40 by the connecting pieces 21c and 22c. Since the two half cylinders 21 and 22 are rotatably supported by one fixed shaft 40, the structure of the main body portion 20 is simplified and the unfolding operation of the half cylinders 21 and 22 is reduced. It is easy to control in places.
  • a plate-like member that extends to the lower end surrounding the corners of the half cylinders 21 and 22 at the same position as the connecting pieces 21c and 22c in the longitudinal direction thereof.
  • the reinforcing ribs 21b and 22b are provided, and the rigidity of the half cylinders 21 and 22 is reinforced by the reinforcing ribs 21b and 22b.
  • the fixing unit 50 of the present embodiment includes an arm portion 52, a rod-like body 51, a horizontal plate 53, and a servo fixing plate 54 described below.
  • the arm portion 52 is two plate-like members fixed to both end portions in the axial direction of the fixed shaft 40, and has two pieces extending obliquely upward and leftward to the left and right with the fixed shaft 40 as a base end. It has an arm part.
  • the rod-shaped body 51 is two round pipes arranged in parallel with the axial direction of the fixed shaft 40, and both ends thereof are supported by the front ends of the arm portions 52 of the front and rear arms 52, respectively.
  • the horizontal plate 53 is two plate-like members that are arranged behind the rod-like bodies 51 and connect the rod-like bodies 51 in a direction orthogonal to the axial direction.
  • the servo fixing plate 54 is a plate-like member that is disposed in the middle of the horizontal plate 53 in the longitudinal direction so that the end surface faces the longitudinal direction.
  • the position of the servo 70 is fixed by being attached to the servo fixing plate 54.
  • the fixing unit 50 may be any unit as long as it can fix the transport container 92 to the lower portion of the multicopter 91 so as not to be relatively movable, and can be appropriately changed according to the outer shape of the multicopter 91.
  • the servo 70 is a drive source that opens and closes the transport container 92 as described above.
  • An arm portion 71 that extends radially outward is attached to the output shaft of the servo 70.
  • the arm portion 71 (and the output shaft) rotates in the vertical direction within a predetermined angle range in response to an instruction from the multicopter 91.
  • the distal end of the arm part 71 is connected to the right half cylinder 21 via the connecting shaft 72, whereby the right half cylinder 21 rotates in the opening direction and the closing direction in conjunction with the vertical movement of the arm part 71.
  • the left half cylinder 22 is rotated in the opening direction and the closing direction in conjunction with the operation of the right half cylinder 21 by a synchronization mechanism 60 described later.
  • Both ends of the connecting shaft 72 are connected to the tip of the arm portion 71 and the connecting piece 21c on the rear side of the right half cylinder 21 by ball joints. Furthermore, the shaft body of the connecting shaft 72 is formed by connecting two halves divided at the center in the axial direction so as to be rotatable in the circumferential direction, whereby the ball joints at both ends can be relatively rotated in the circumferential direction. It is said that. Due to the connecting shaft 72, the driving force of the servo 70 is converted from the vertical movement of the arm portion 71 about the output shaft of the servo 70 to the vertical movement of the right half cylinder 21 about the fixed shaft 40. To be transmitted.
  • the synchronization mechanism 60 includes a fixed link piece 61 and a movable link piece 62 which are flat link pieces in which long holes are formed along the longitudinal direction, and a common shaft body inserted through the long holes of all the link pieces.
  • the fixed link piece 61 is fixed to the fixed shaft 40, and the movable link piece 62 is fixed to the vicinity of the upper end of the outer peripheral surfaces of the half cylinders 21 and 22, respectively.
  • the fixed link piece 61 includes a front fixed link piece 611 and a rear fixed link piece 612 that are arranged at a predetermined interval along the axial direction of the fixed shaft 40.
  • the fixed link pieces 611 and 612 have their lengths.
  • the holes 611a and 612a (612a is not shown) are arranged at an angle extending in the vertical direction.
  • the right movable link piece 621 which is the movable link piece 62 of the right half cylinder 21, and the left movable link piece 622, which is the movable link piece 62 of the left half cylinder 22, are connected pieces 21c of the half cylinders 21, 22. , 22c is formed integrally with the half cylinders 21, 22 arranged at the center in the longitudinal direction. Thereby, the right movable link piece 621 and the left movable link piece 622 rotate in the circumferential direction of the fixed shaft 40 around the fixed shaft 40 when the half cylinders 21 and 22 are opened and closed.
  • the right movable link piece 621 and the left movable link piece 622 are disposed between the two fixed link pieces 611 and 612 in the axial direction of the fixed shaft 40.
  • Each of the movable link pieces 621 and 622 has a main body portion such that only the portion of the elongated holes 621a and 622a through which the movable shaft 63 is inserted overlaps the elongated holes 611a and 612a of the two fixed link pieces 611 and 612. They are arranged at symmetrical angles in 20 circumferential directions.
  • the lid body 30 is composed of two plate-like members having substantially the same shape as the opening of the main body portion 20, and these lid bodies 30 are rotatably supported at both ends of the fixed shaft 40.
  • the lid 30 includes a front rotary lid 31 disposed at the front end of the fixed shaft 40 and a rear rotary lid 32 disposed at the rear end.
  • the rotary lids 31 and 32 are elastic members.
  • the coil springs 311 and 321 are always biased toward the main body 20 side.
  • the front rotary lid 31 will be mainly described. However, the structure of the front rotary lid 31 described below is the same for the rear rotary lid 32.
  • a connecting piece 31 a having a hole through which the fixed shaft 40 is inserted is formed at the upper end of the front rotary lid 31.
  • the front rotary lid 31 is supported so as to be rotatable about the fixed shaft 40 in the circumferential direction by inserting the fixed shaft 40 through the connecting piece 31a.
  • a positioning protrusion 313 that is a protrusion protruding toward the connection piece 31 a is formed on the end face of the base end portion of the arm portion 52 on the connection piece 31 a side (the front rotation lid 31 side).
  • a positioning hole 312 in which the positioning protrusion 313 is fitted is formed at a portion of the connecting piece 31 a corresponding to the position where the positioning protrusion 313 is formed. Is formed.
  • the multicopter 91 is turned over together with the fuselage or the multicopter 91 is operated. It is necessary to remove the transfer container 92 from 91 and work. Since the transport container 92 includes the rotary lids 31 and 32, the fire extinguishing bullets 93 can be accommodated in the transport container 92 from the opening in which the rotary lids 31 and 32 are opened. Has been. In the present embodiment, both of the two lid bodies 30 are rotatable lids that can be opened and closed, but only one of these may be used as the rotary lid.
  • the multicopter 91 In the state where the multicopter 91 has landed, either one of the rotary lids 31 and 32 of the transport container 92 is opened, the fire bomb 93 is accommodated in the transport container 92, and the multicopter 91 is caused to fly to the fire point.
  • the flight to the fire point may be performed manually by the operator using the transceiver 81, or may be performed automatically by an autonomous flight program.
  • the multicopter 91 When the multicopter 91 arrives directly above the position where the fire bomb 93 is dropped at the fire point, the multi copter 91 is hovered at that position until the position of the fire bomb 93 within the transport container 92 is settled. Since the multicopter 91 is an unmanned airplane, there is no restriction for the purpose of ensuring the safety of the pilot regarding the approach to the fire point. Therefore, the multicopter 91 can be brought close to the fire point to the limit as long as the airframe does not deform or burn out.
  • the fire extinguishing bullet 93 Since the upper surfaces of the bottom plate portions 21a and 22a in the present embodiment are inclined surfaces that are entirely flat, and these inclined surfaces are inclined at the same inclination angle, the fire extinguishing bullet 93 has two bottom plate portions 21a and 22a. It is stably placed on the boundary line.
  • the drop control program read into the RAM of the control device 831 is sent to the servo 70 via the PWM controller in accordance with an instruction from the operator (transmitter / receiver 81). Send.
  • the servo 70 pulls the right half cylinder 21 upward through the arm portion 71 and the connecting shaft 72.
  • the right movable link piece 621 of the right half cylinder 21 tilts toward the left half cylinder 22 so that the angle of the elongated hole 621a approaches the horizontal position, thereby
  • the movable shaft 63 is pushed downward in the long holes 611a and 612a of the fixed link piece 61.
  • the left movable link piece 622 of the left half cylinder 22 is also interlocked with it so that the angle of the long hole 622a approaches the horizontal position. Tilt to the right half cylinder 21 side.
  • the two half cylinders 21 and 22 are developed simultaneously and symmetrically.
  • the opening / closing angles of the two half-cylinders 21 and 22 are determined in a unified manner by the position of the movable shaft 63 in the long holes 612 a and 622 a of the fixed link 61. Become. Thereby, when one of the two half cylinders 21 and 22 is opened and closed, the other half cylinder is also opened and closed in conjunction with the operation, and the opening and closing timing of these two half cylinders 21 and 22; The synchronization of the opening / closing speed and the opening / closing angle is structurally ensured.
  • the fire bomb 93 is prevented from rolling off from any of the bottom plate portions 21a and 22a when the bottom portion 20a is deployed.
  • the fire extinguishing bullet 93 accommodated in the transport container 92 can be dropped vertically downward.
  • the servo 70 is connected only to the right half cylinder 21, and the left half cylinder 22 is synchronized with the right half cylinder by the synchronization mechanism 60.
  • each of the half cylinders 21 and 22 may be provided with a servo 70, and the synchronization mechanism 60 may be omitted and a rotary encoder, for example, may be used. It is also possible to electronically control the synchronization of the two half cylinders 21 and 22 separately by feedback control or the like.
  • FIG. 8 is a perspective view showing an appearance of a vertical dropping device 90b according to another embodiment of the present invention
  • FIG. 9 is a block diagram showing a functional configuration of the vertical dropping device 90b.
  • components having the same or the same functions as those of the previous embodiment are denoted by the same reference numerals as those of the previous embodiment, and detailed description thereof is omitted.
  • the vertical drop device 90b is provided with a camera unit 88 that is directed vertically downward when the bottom portion 20a is closed on the right bottom plate portion 21a of the right half cylinder 21. Yes.
  • the operator can adjust the dropping position while visually confirming the position where the fire bullet 93 is expected to drop at the fire point with the video taken by the camera unit 88. Thereby, it is possible to remarkably improve the accuracy of hitting the fire bomb 93 during manual operation.
  • the vertical dropping devices 90 and 90b in the embodiment are used for dropping fire extinguishing bombs 93 to a fire point, but the dropped object of the vertical dropping device of the present invention is not limited to the fire extinguishing bomb 93, and its use is also fire. It is not limited to fire extinguishing.
  • the vertical dropping device of the present invention can be widely applied to a predetermined position on land or water in applications where it is necessary to drop solid matter from the sky with a certain degree of accuracy.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Toys (AREA)
  • Filling Or Emptying Of Bunkers, Hoppers, And Tanks (AREA)
PCT/JP2017/015434 2016-04-26 2017-04-17 鉛直投下装置 Ceased WO2017188041A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016087685A JP6536996B2 (ja) 2016-04-26 2016-04-26 鉛直投下装置
JP2016-087685 2016-04-26

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CN112193416A (zh) * 2020-09-29 2021-01-08 北京二郎神科技有限公司 无人机及物流配送系统
CN115779299A (zh) * 2022-11-15 2023-03-14 亿航智能设备（广州）有限公司 无人机自动灭火系统及方法
EP4197907A4 (en) * 2020-08-11 2024-05-15 Aeronext Inc. MOVING BODY
RU235573U1 (ru) * 2025-03-31 2025-07-09 Федеральное Государственное Бюджетное Образовательное Учреждение Высшего Образования "Новосибирский Государственный Технический Университет" Капсула для транспортировки

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