WO2022049640A1 - Cargo connection device and unmanned aerial vehicle - Google Patents

Cargo connection device and unmanned aerial vehicle Download PDF

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Publication number
WO2022049640A1
WO2022049640A1 PCT/JP2020/033127 JP2020033127W WO2022049640A1 WO 2022049640 A1 WO2022049640 A1 WO 2022049640A1 JP 2020033127 W JP2020033127 W JP 2020033127W WO 2022049640 A1 WO2022049640 A1 WO 2022049640A1
Authority
WO
WIPO (PCT)
Prior art keywords
pair
hook members
luggage
main body
unmanned aerial
Prior art date
Application number
PCT/JP2020/033127
Other languages
French (fr)
Japanese (ja)
Inventor
エムリー ウィルソン プリモー
クリストファー トーマス ラービ
ビンセント テオドラス テジャウィリヤ
Original Assignee
株式会社Acsl
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 株式会社Acsl filed Critical 株式会社Acsl
Priority to PCT/JP2020/033127 priority Critical patent/WO2022049640A1/en
Priority to JP2020571898A priority patent/JP6972447B1/en
Publication of WO2022049640A1 publication Critical patent/WO2022049640A1/en

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Classifications

    • 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
    • B64D1/22—Taking-up articles from earth's surface
    • 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
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • 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
    • 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
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power

Definitions

  • the present invention relates to a luggage connecting device and an unmanned aerial vehicle.
  • the hook described in Patent Document 1 has a slot formed on the side surface, and the hook is attached to the luggage by hooking the handle of the luggage in this slot.
  • the handle may come off the slot in the event of an unexpected strong wind or the like, and the load may fall.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a luggage connecting device capable of reliably preventing a luggage from falling.
  • the luggage connecting device of the present invention is for connecting luggage to an unmanned aerial vehicle provided with a hanging member suspended from the main body of the unmanned aerial vehicle and a connecting member attached below the hanging member and connectable to the luggage.
  • the connecting member includes a pair of hook members in the shape of hooks that can rotate around a axis of rotation extending laterally, and the pair of hook members are between the tips of the pair of hook members. It can rotate between the open state where a gap is formed and the closed state where the tips of the pair of hook members are closed, and the pair of hook members can be used when the load is hooked on the pair of hook members. It is configured to be urged to be closed by the load of the luggage.
  • the connecting member further includes an urging member that urges the pair of hook members to be in an open state, the load of the load acting on the pair of hook members is reduced, and the load of the load reduces the load.
  • the urging force of the urging member becomes larger than the urging force acting on the pair of hook members to the closed state, the pair of hook members rotate to the open state.
  • the upper surface of the tip end portion of the hook member is formed so that the distance from the rotation shaft decreases toward the tip end portion.
  • the connecting member includes a connecting member main body to which the hanging member is connected and a pair of hook members are rotatably attached, and the luggage connecting device is attached to the unmanned aerial vehicle main body and the hanging member. Further includes a hoisting device capable of hoisting and unwinding, and a housing portion forming member attached to the main body of the unmanned aerial vehicle and capable of accommodating the main body of the connecting member.
  • the connecting member main body is formed with a recess on the side surface
  • the luggage connecting device includes a latch member that can be inserted into the recess while the connecting member main body is housed in the accommodating portion forming member. ..
  • the latch member is urged to advance into the accommodating portion forming member, and the upper portion of the connecting member main body is formed in a tapered shape upward.
  • the accommodating portion forming member is preferably configured to restrain the pair of hook members in a closed state while the connecting member main body is accommodated in the accommodating portion forming member.
  • the luggage connecting device of the present invention has a hanging member suspended from the unmanned aerial vehicle main body, a connecting member attached below the hanging member and connectable to the luggage, and a hanging member attached to the unmanned aerial vehicle main body.
  • It is a luggage connecting device for connecting luggage to an unmanned aerial vehicle equipped with a hoisting and unwinding hoisting device, and the connecting member is a connecting member main body to which a hanging member is connected and a connecting member main body.
  • a pair of hook-shaped hook members rotatably attached around a laterally extending rotation axis, the pair of hook members having a gap formed between the tips of the pair of hook members.
  • a storage unit forming member that can rotate between the open state and the closed state in which the tips of the pair of hook members are closed, and the luggage connecting device is attached to the unmanned aerial vehicle body and can accommodate the connecting member body. Further, the accommodating portion forming member is configured to restrain the pair of hook members in a closed state while the connecting member main body is accommodated in the accommodating portion forming member.
  • the pair of hook members have protrusions on their outer side portions
  • the accommodating portion forming member has a tubular body located around the connecting member main body when the connecting member main body is accommodated.
  • the pair of hook members are restrained in the closed state by the protrusions of the pair of hook members coming into contact with the tubular body while the main body of the connecting member is accommodated in the accommodating portion forming member.
  • the unmanned aerial vehicle of the present invention includes an unmanned aerial vehicle main body and the above-mentioned luggage connecting device attached to the unmanned aerial vehicle main body.
  • a luggage connecting device capable of reliably preventing a luggage from falling is provided.
  • FIG. 3 is an upward perspective view showing a luggage connecting device mounted on the unmanned aerial vehicle shown in FIG. 1.
  • FIG. 3 is a downward perspective view showing a luggage connecting device mounted on the unmanned aerial vehicle shown in FIG. 1.
  • FIG. 3 is a top view which shows the baggage connecting device mounted on the unmanned aerial vehicle shown in FIG. 1.
  • FIG. 6 is a cross-sectional view taken along the line XIII-XIII in FIG.
  • FIG. 8 is a cross-sectional view taken along the line IX-IX in FIG.
  • FIG. 3 is a perspective view showing a wire of a luggage connecting device mounted on an unmanned aerial vehicle shown in FIG. 1 and a connecting member in a closed state.
  • FIG. 3 is a side view showing a wire of a luggage connecting device mounted on an unmanned aerial vehicle shown in FIG. 1 and a connecting member in an open state.
  • FIG. 3 is a side view showing a wire of a luggage connecting device mounted on an unmanned aerial vehicle shown in FIG. 1 and a connecting member in a closed state. It is a vertical sectional view (No.
  • the unmanned aerial vehicle of the present invention is not limited to the multicopter shown in FIG. 1, and may be any unmanned aerial vehicle such as a rotary wing aircraft or a fixed wing aircraft, and does not have to be an autonomous flight type unmanned aerial vehicle.
  • FIGS. 1 to 3 show an unmanned aerial vehicle (multicopter) according to an embodiment of the present invention
  • FIG. 1 is an upper perspective view
  • FIG. 2 is a lower perspective view
  • FIG. 3 is a top view.
  • the unmanned aerial vehicle 10 of the present embodiment includes an unmanned aerial vehicle main body 100 and a luggage connecting device 200 attached to the lower part of the unmanned aerial vehicle main body 100.
  • the unmanned aerial vehicle main body 100 includes a main body portion 101, six arms 104A to 104C extending from the main body portion 101, and a pair of landing gears 105 extending downward from the main body portion 101.
  • the main body 101, the arms 104A to 104C, and the landing gear 105 have a symmetrical configuration with respect to a plane extending in the front-rear direction (that is, a plane extending in the left-right direction in FIG. 3).
  • the main body 101 is formed in a dome shape, and a storage space is formed inside.
  • a battery, a control circuit, a flight position sensor, a camera, an antenna, and the like are mounted on the main body 101.
  • the control circuit includes, for example, a processing device such as a CPU and a storage device such as a memory.
  • the memory includes a flight control program for controlling the flight of the unmanned aircraft body and a luggage connection for controlling the luggage connection drive of the luggage connection device 200.
  • a drive control program, an unloading control program for controlling the unloading drive of the luggage connecting device 200, and delivery route data regarding the delivery route and the delivery destination location of the luggage are stored.
  • Arms 104A to 104C extend horizontally from the main body 101 in the landing state.
  • the arms 104A to 104C are a pair of central arms 104B extending laterally (vertical direction in FIG. 3) from the center in the front-rear direction of the main body 101, and forward from the front portion (right portion in FIG. 3) of the main body 101. It includes a pair of front arms 104A extending obliquely so as to spread laterally, and a pair of rear arms 104C extending laterally outward from the rear part of the main body (left part in FIG. 3).
  • the landing gear 105 includes a main landing gear 105A extending downward from both sides of the main landing gear 101 and a ground contact portion 105B connected to the lower end of the main landing gear 105A.
  • the main landing gear 105A has a columnar shape, and extends diagonally downward from both sides of the center of the main body 101 in the front-rear direction so as to spread laterally.
  • the ground contact portion 105B has a columnar shape and extends in the front-rear direction perpendicular to the main landing gear portion 105A.
  • the unmanned aerial vehicle main body 100 includes six motors 102 and six rotors (rotor blades) 103 that rotate by driving each motor 102 to generate lift.
  • the motors 102 are fixed to the tips of the arms 104A to 104C, respectively.
  • the motor 102 is powered by a battery housed in the main body 101 and driven to rotate, and the rotation speed is controlled by a control circuit using a speed controller.
  • Each rotor 103 is provided above the arms 104A to 104C.
  • the unmanned aerial vehicle main body 100 six motors 102 are rotated by a control signal from a control circuit, and by controlling the rotation speed of each of the six rotors 103, ascending, descending, flying forward / backward / left / right, turning, etc. Flight is controlled.
  • the unmanned aerial vehicle main body 100 further has a mounting base 106 attached to the lower part of the main body portion 101.
  • the mounting base 106 has a rectangular board 106A and four pillars 106B extending from the four corners of the board 106A to the main body 101.
  • the substrate 106A of the mounting base 106 is attached to the main body 101 so as to be horizontal when the unmanned aerial vehicle main body 100 is in the landing state or the hovering state.
  • a circular opening 106C (FIG. 8) is formed in the center of the substrate 106A.
  • the diameter of the opening 106C (FIG. 8) is larger than the diameter of the intermediate plate portion 240A of the connecting member 240 described later.
  • FIGS. 4 to 7 are views showing a luggage connecting device mounted on the unmanned aerial vehicle shown in FIG. 1, FIG. 4 is an upper perspective view, FIG. 5 is a lower perspective view, FIG. 6 is a top view, and FIG. 7 is a bottom view.
  • FIG. 8 is a cross-sectional view taken along the line XIII-XIII in FIG. 6, and FIG. 9 is a cross-sectional view taken along the line IX-IX in FIG.
  • FIG. 8 is a cross-sectional view taken along the line XIII-XIII in FIG. 6
  • FIG. 9 is a cross-sectional view taken along the line IX-IX in FIG.
  • the inside of the upper accommodating portion forming member and the lower accommodating portion forming member is disassembled and shown.
  • the connecting member is omitted.
  • FIGS. 4 to 7 show a wire and a connecting member of the luggage connecting device mounted on the unmanned aerial vehicle shown in FIG. 1,
  • FIG. 10 is a perspective view in which the connecting member is in a closed state
  • FIG. 11 is a perspective view in which the connecting member is open.
  • FIG. 12 is a side view showing the connecting member in the closed state.
  • the luggage connecting device 200 includes a wire 250 as a suspension member, a connecting member 240 connected to the wire 250, and a connecting member accommodating device 260 for accommodating the connecting member 240. , Equipped with.
  • the connecting member 240 includes a connecting member main body 241 and a pair of hook members 242, and is formed of, for example, resin or metal.
  • the connecting member main body 241 is formed in a substantially elliptical shape as a whole when viewed from the side.
  • the connecting member main body 241 stands below the intermediate plate portion 240A, the cylindrical portion 240B erected on the upper surface of the intermediate plate portion 240A, the head 240C connected to the upper part of the cylindrical portion 240B, and the intermediate plate portion 240A.
  • the lower plate portion 240D provided is provided.
  • the intermediate plate portion 240A is composed of a circular flat plate-shaped portion.
  • the intermediate plate portion 240A is provided so as to be horizontal when the connecting member 240 is suspended by the wire 250.
  • the columnar portion 240B is composed of a portion formed in a cylindrical shape having a diameter smaller than the diameter of the intermediate plate portion 240A.
  • the columnar portion 240B is erected on the intermediate plate portion 240A so that the central axis coincides with the central axis of the intermediate plate portion 240A.
  • the head 240C has a shape that is rotationally symmetric around the central axis, and the cross-sectional shape is the shape of one end of the long axis of the ellipse. As a result, the head 240C has a tapered shape such that the diameter decreases upward.
  • the central axis of the head 240C coincides with the central axis of the intermediate plate portion 240A and the cylindrical portion 240B. Further, the lower surface of the head 240C is formed flat. With such a configuration, a recess 240E having an annular horizontal cross-sectional shape is formed between the head 240C and the intermediate plate portion 240A.
  • the lower plate portion 240D is composed of a flat plate-shaped portion having a shape corresponding to one half of the long axis of the ellipse.
  • the lower plate portion 240D is erected vertically on the lower surface of the intermediate plate portion 240A.
  • An inverted V-shaped notch 240F is formed upward at the lower end of the intermediate plate portion 240A.
  • the pair of hook members 242 are the same claw-shaped members as a whole, and each has a claw-shaped portion 242A, a side protrusion 242B, and a central protrusion 242G, respectively.
  • the pair of hook members 242 are connected so as to be rotatable around a rotation shaft 243 erected on both sides of the lower plate portion 240D, with the tip portion 242E facing in the opposite direction in the lateral direction. ..
  • the rotation shaft 243 is formed in the center in the width direction above the notch portion 240F of the lower plate portion 240D. As a result, the pair of hook members 242 can rotate in parallel with the lower plate portion 240D, respectively.
  • the claw-shaped portion 242A includes a base end portion 242C, an intermediate portion 242D continuous with the base end portion 242C, and a tip portion 242E continuous from the intermediate portion 242D, respectively.
  • One end of the base end portion 242C is formed in a substantially circular shape, and a rotation shaft 243 extending in the horizontal direction in a landed state is connected to the substantially deformed portion.
  • the base end portion 242C extends downwardly and laterally from the rotation shaft 243 when the connecting member 240 is in the closed state.
  • the intermediate portion 242D extends obliquely downward from the base end portion 242C toward the lateral center of the connecting member 240.
  • the tip portion 242E extends diagonally upward from the tip of the intermediate portion 242D toward the side.
  • the upper surface of the claw-shaped portion 242A increases the distance from the rotation shaft 243 from between the base end portion 242C and the intermediate portion 242D toward the tip end, and rotates at the boundary portion between the intermediate portion 242D and the tip end portion 242E. It is formed so that the distance from the moving shaft 243 is maximized and the distance from the rotating shaft 243 is reduced toward the tip of the tip portion 242E. With such a shape, when the handle of the load is hooked on the upper surface of the claw-shaped portion 242A, the handle moves to the boundary portion between the intermediate portion 242D and the tip portion 242E.
  • the weight of the load larger than the predetermined value acts on the claw-shaped portion 242A, and the pair of hook members 242 rotate to a position where the boundary portion between the intermediate portion 242D and the tip portion 242E is both located below the rotation axis 243. Move. In such a state, the pair of claw-shaped portions 242A overlap each other when viewed from the lateral direction, and are in a closed state with no gap between the hook members 242.
  • the load of a predetermined load such that the hook member 242 rotates from the open state to the closed state is determined by the urging force of the urging member 244.
  • the lateral protrusion 242B protrudes from the outer side portion of the base end portion 242C so as to extend laterally when the connecting member 240 is in the closed state.
  • the central protrusion 242G projects from the circular portion of the base end portion 242C toward the side opposite to the side protrusion 242B when the connecting member 240 is in the closed state.
  • the central protrusion 242G of the pair of hook members 242 is connected by a stretchable urging member 244 such as a spring.
  • One end of the urging member 244 is connected to the central protrusion 242G of one hook member 242, extends downward, extends upward through the notch 240F of the lower plate portion 240D, and the other end of the hook member 242. It is connected to the central protrusion 242G. Further, the urging member 244 is connected so as to connect between the central protrusions 242G of the pair of hook members 242 in an extended state. As a result, a downward urging force acts on the central protrusion 242G by the urging member 244, respectively, on the pair of hook members 242.
  • the urging force from the urging member 244 acts as a force for rotating the base end portions 242C of the pair of hook members 242 so as to be separated from each other.
  • the pair of hook members 242 are rotated by the urging member 244, and as shown in FIG. 12, the tip portion 242E of the pair of hook members 242E is rotated. It becomes an open state so that a gap is created between the two.
  • the connecting member accommodating device 260 is fixed on the substrate 106A, and the hoisting device 210, the suspension device 220, the pair of latch devices 230, and the upper accommodating portion forming member 270. And has a lower accommodating portion forming member 271.
  • the upper accommodating portion forming member 270 has a cylindrical cylindrical portion 270A (FIG. 4) and a flange portion 270B (FIG. 4) extending laterally from the lower end of the cylindrical portion 270A.
  • the upper accommodating portion forming member 270 is attached to the substrate 106A by fixing the flange portion 270B to the upper surface of the substrate 106A.
  • the cylindrical space inside the cylindrical portion 270A of the upper accommodating portion forming member 270 communicates with the opening 106C (FIG. 8) of the substrate 106A. Further, as shown in FIGS. 8 and 9, openings 270C are formed on both sides of the upper accommodating portion forming member 270, respectively.
  • the lower accommodating portion forming member 271 has a cylindrical cylindrical portion 271A and a flange portion 271B extending laterally from the upper end of the cylindrical portion 271A.
  • the lower accommodating portion forming member 271 is attached to the substrate 106A by fixing the flange portion 271B to the lower surface of the substrate 106A.
  • the cylindrical space inside the cylindrical portion 271A of the lower accommodating portion forming member 271 communicates with the opening 106C (FIG. 8) of the substrate 106A.
  • the internal space of the cylindrical portion 270A of the upper accommodating portion forming member 270 and the cylindrical portion 271A of the lower accommodating portion forming member 271 is continuous through the circular opening of the substrate 106A, whereby the cylindrical accommodating space 273 is formed. ing.
  • the hoisting device 210 includes a motor 212 and a reel 211 rotationally driven by the motor 212.
  • the hoisting device 210 is installed on the rear side of the opening of the substrate 106A so that the reel 211 faces in the front-rear direction.
  • the drive of the hoisting device 210 is controlled by a control circuit.
  • An end portion of the wire 250 is attached to the reel 211, and the wire 250 can be wound and unwound by rotationally driving the motor. Further, the hoisting device 210 can detect the load acting on the motor.
  • the suspension device 220 is arranged above the upper accommodating portion forming member 270.
  • the suspension device 220 includes a plurality of pulleys 221 and the plurality of pulleys 221 guide the wire 250 extending from the hoisting device 210 so as to hang downward from the center of the opening 106C (FIG. 8) of the substrate 106A. ..
  • a part of the plurality of pulleys 221 of the suspension device 220 is supported by an elastic member such as a spring.
  • the pair of latch devices 230 are provided so as to correspond to each other in the horizontal direction with the opening 106C interposed therebetween.
  • Each latch device 230 has a mechanism main body 231 and a protrusion member 232 as a latch member provided so as to project from the mechanism main body 231 toward the opening 106C, and a spring that urges the protrusion member 232 toward the opening 106C. It has a member 233, a gear 234 for driving the protrusion member 232, and a motor 235 for driving the gear 234.
  • the mechanism main body 231 is formed with a storage hole 231A that opens on the surface on the opening 106C side.
  • the end portion on the outlet side of the accommodating hole 231A is formed in a rectangular shape whose cross-sectional shape corresponds to the outer shape of the projecting member 232, and the inner end side of the accommodating hole 231A is formed wider than the portion on the outlet side.
  • a slit 231B is formed on the upper surface of the accommodating hole 231A of the mechanism main body 231 so as to reach the inside of the accommodating hole 231A.
  • the slit 231B extends in the projecting direction of the protrusion 232.
  • the protrusion member 232 has a rectangular cross-sectional shape and is accommodated in the accommodating hole 231A of the mechanism main body 231. As a result, the protrusion member 232 is guided toward the opening 106C so as to be able to move forward and backward. Further, a widening portion 232A is formed at the rear portion of the protrusion member 232, whereby the protrusion member 232 is prevented from being separated from the mechanism main body 231. An inclined surface is formed at the tip of the protrusion 232 so as to advance upward toward the tip. Further, the protrusion 232 is formed with a through hole 232B that penetrates in the front-rear direction.
  • the spring member 233 is interposed in the accommodating hole 231A in a contracted state between the protrusion member 232 and the wall surface in the accommodating hole 231A. As a result, the protrusion member 232 is constantly urged by the spring member 233 so that the tip portion thereof protrudes from the mechanism main body 231.
  • the gear 234 is connected to the motor 235 and is rotationally driven by the motor 235.
  • the gear 234 is arranged at a position above the protrusion member 232.
  • the teeth of the gear 234 have entered the slit 231B on the upper surface of the mechanism main body 231 and have entered the through hole 232B of the protrusion 232.
  • the protrusion member 232 can be regressed by the gear 234 being driven by the motor 235.
  • 13 to 20 are vertical cross-sectional views for explaining a flow of transporting a load by an unmanned aerial vehicle.
  • the figure shows only the pair of latch devices 230 of the cargo connecting device 200, the connecting member 240, the wire 250, and the lower accommodating portion forming member 271.
  • a case of transporting a load having a handle attached to the upper part will be described.
  • the step of connecting the luggage to the unmanned aerial vehicle 10 is preferably performed in a state where the unmanned aerial vehicle main body 100 has landed, but it can also be performed in a state where the unmanned aerial vehicle main body 100 is hovering.
  • the cargo connection is carried out by the control circuit executing the load connection drive control program.
  • the wire 250 is sent out by the hoisting device 210, and the connecting member 240 is separated from the accommodation space in the lower accommodating portion forming member 271 to be suspended. ..
  • the connecting member 240 By suspending the connecting member 240 in this way, the pair of hook members 242 are urged and rotated by the urging member 244 of the connecting member 240, and a gap is formed between the tip portions 242E. It becomes a state.
  • the luggage handle 300 is inserted from between the tip portions 242E of the pair of hook members 242 and hooked on the upper surface of the claw-shaped portion 242A.
  • the hook member 242 rotates around the rotation shaft 243 extending laterally due to the weight of the load, and there is no gap between the tip portions 242E in a closed state.
  • the handle is stabilized in a state of being caught on the boundary portion between the tip portion 242E and the intermediate portion 242D of each hook member 242. If the luggage is installed and the weight of the luggage acting on the hook member 242 is light and the hook member 242 does not rotate, the wire 250 may be wound by the hoisting device 210.
  • the wire 250 is wound up by the hoisting device 210.
  • the connecting member 240 rises and enters the lower accommodating portion forming member 271, and the head 240C of the connecting member 240 comes into contact with the tip surface of the protrusion member 232 of the latch device 230.
  • the head 240C of the connecting member 240 is formed in a tapered shape, and the inclined surface is formed at the tip of the protrusion member 232, which is shown in FIG.
  • the protrusion member 232 regresses into the accommodating hole 231A while resisting the urging force of the spring member 233. Then, in this state, the wire 250 of the hoisting device 210 is wound up, and when the height of the recess 240E of the connecting member 240 reaches the height of the protrusion member 232 of the latch device 230, the protrusion member 232 becomes as shown in FIG. It is urged by the spring member 233 to advance and enter the recess 240E. As a result, the protruding member 232 of the latch device 230 enters the recess 240E of the connecting member 240, so that the connecting member 240 is fixed to the unmanned aerial vehicle main body 100.
  • the connecting member 240 is accommodated in the lower accommodating portion forming member 271 in this way, the lateral protrusion 242B of the pair of hook members 242 abuts on the lower edge of the lower accommodating portion forming member 271. As a result, the pair of hook members 242 of the connecting member 240 is restricted from rotating so as to spread, and the pair of hook members 242 are restrained in the closed state.
  • the unmanned aerial vehicle 10 flies to the unloading place with a plurality of luggage connected by the luggage connecting device 200 in this way.
  • the flight by the unmanned aerial vehicle 10 is controlled by the flight control program recorded in the memory of the control circuit, and the control circuit 6 is such that the unmanned aerial vehicle main body 100 flies along a predetermined flight path according to the delivery route data. It is executed by controlling the rotation speed of one rotor 103.
  • the control circuit of the unmanned aerial vehicle body 100 detects that the unmanned aerial vehicle 10 has arrived at the unloading place by the flight position sensor such as GPS and the image by the camera, the control circuit executes the unloading control program. Perform unloading of luggage.
  • the unloading work may be performed with the unmanned aerial vehicle main body 100 landing or hovering.
  • the step of unloading the unmanned aerial vehicle 10 is preferably performed with the unmanned aerial vehicle main body 100 landing, but it can also be performed with the unmanned aerial vehicle main body 100 hovering.
  • the unloading of the load is carried out by the control circuit executing the unload drive control program.
  • the motors 235 of the pair of latch devices 230 are driven to regress the protrusion member 232.
  • the protrusion member 232 is separated from the recess 240E of the connecting member 240.
  • the motor of the hoisting device 210 is driven to send out the wire 250.
  • the connecting member 240 starts descending from the accommodation space 273.
  • the connecting member 240 is lowered and the load is grounded.
  • the load acting on the pair of hook members 242 from the handle 300 is reduced.
  • the urging force of the urging member 244 is larger than the force urging the pair of hook members 242 by the load of the load to the closed state. growing.
  • the pair of hook members 242 rotate so as to be in an open state in which a gap is formed between the tip portions 242E of the hook member 242 by the urging member 244.
  • the handle 300 of the load can be separated from between the pair of hook members 242 to unload the load.
  • the control circuit can detect the detachment of the load.
  • the hoisting device 210 winds up the wire 250 again.
  • the connecting member 240 is accommodated in the accommodating space 273, and the side protrusions 242B of the pair of hook members 242 are on the lower edge of the lower accommodating portion forming member 271.
  • the wire 250 is wound up by the hoisting device 210 and the connecting member 240 is pulled up, so that the pair of hook members 242 rotate and are closed.
  • the head 240C retracts the protrusion 232 of the latch device 230 into the accommodation hole 231A. Then, when the wire 250 of the hoisting device 210 is wound up in this state and the height of the recess 240E of the connecting member 240 reaches the height of the protrusion member 232 of the latch device 230, the protrusion member 232 is urged by the spring member 233. And advance into the recess 240E. As a result, the protrusion member 232 of the latch device 230 enters the recess 240E of the connecting member 240, so that the connecting member 240 is fixed to the unmanned aerial vehicle main body 100.
  • the unmanned aerial vehicle 10 flies to the collection place.
  • the flight by the unmanned aerial vehicle 10 is controlled by the flight control program recorded in the memory of the control circuit, and the control circuit 6 is such that the unmanned aerial vehicle main body 100 flies along a predetermined flight path according to the delivery route data. It is executed by controlling the rotation speed of one rotor 103.
  • the connecting member 240 includes a pair of hook-shaped hook members 242 that are rotatable around a rotation shaft 243 extending laterally, and the pair of hook members 242 is a pair of hook members 242.
  • the pair of hook members 242 can rotate between an open state in which a gap is formed between the tips and a closed state in which the tips of the pair of hook members 242 are closed.
  • hooked on the 242 it is configured to be urged to be closed by the load of the luggage.
  • the space between the tips of the pair of hook members 242 is closed, so that the load can be prevented from falling.
  • the cargo may fall when the weight of the cargo is heavy, and it takes time and effort to unload the cargo. ..
  • the pair of hook members 242 are urged to be closed by the load of the load, the fall can be prevented regardless of the load of the load.
  • the closed state can be easily released by grounding the load.
  • the unmanned aerial vehicle accelerates in the horizontal direction, the acceleration acts on the luggage in the horizontal direction. Therefore, when the connecting member includes only one hook member, a gap may occur at the tip of the hook member.
  • the pair of hook members 242 are provided, the pair of hook members 242 are urged in the same direction when the unmanned aerial vehicle is accelerated, so that between the tips of the hook members 242. There is no gap in the space, and it is possible to reliably prevent the luggage from falling.
  • the connecting member 240 includes a urging member 244 that urges the pair of hook members 242 to be in an open state, and the load of the load acting on the pair of hook members 242 is reduced, so that the load is loaded.
  • the urging force of the urging member 244 becomes larger than the urging force acting on the pair of hook members 242 due to the load of the above, the pair of hook members 242 rotate to the open state.
  • the load is installed and the load acting on the pair of hook members 242 becomes small, the space between the tips of the pair of hook members 242 opens, and the load can be unloaded without manual operation.
  • the upper surface of the tip portion 242E of the hook member 242 is formed so that the distance from the rotation shaft 243 decreases toward the tip. As a result, even if the handle 300 of the luggage is hooked on the tip portion 242E, the handle 300 is held at a position where the handle 300 is moved from the tip portion 242E toward the base end portion without falling.
  • the connecting member 240 includes a connecting member main body 241 to which a wire 250 is connected and a pair of hook members 242 are rotatably attached, and the luggage connecting device 200 is attached to the unmanned aerial vehicle main body 100.
  • a hoisting device 210 capable of winding and unwinding the wire 250, and accommodating portion forming members 270 and 271 attached to the unmanned aerial vehicle main body 100 and capable of accommodating the connecting member main body 241.
  • the connecting member main body 241 can be accommodated in the accommodating portion forming members 270 and 271, and the connecting member 240 is affected by the wind during flight and the like, and the unmanned aerial vehicle is affected. It is possible to prevent it from affecting the flight of 10.
  • the connecting member main body 241 has a concave portion 240E formed on the side surface thereof, and the luggage connecting device 200 has the concave portion 240E in a state where the connecting member main body 241 is accommodated in the accommodating portion forming members 270 and 271. Includes a protrusion 232 that can be inserted into. Thereby, the connecting member main body 241 can be fixed in the state of being housed in the housing portion forming members 270 and 271 by the protrusion member 232, and the connecting member 240 can be prevented from falling.
  • the protrusion member 232 is urged to advance into the lower accommodating portion forming member 271, and the upper portion of the connecting member main body 241 is formed in a tapered shape upward.
  • the connecting member 240 when the connecting member 240 is wound up by the hoisting device 210, the protruding member 232 regresses and the connecting member 240 is housed in the lower accommodating portion forming member 271, the projecting member 232 is inserted into the recess 240E.
  • the connecting member 240 can be automatically fixed by winding the connecting member 240 with the hoisting device 210.
  • the lower accommodating portion forming member 271 is configured to restrain the pair of hook members 242 in a closed state while the connecting member main body 241 is accommodated in the accommodating portion forming members 270 and 271. ing. As a result, it is possible to prevent the pair of hook members 242 from being opened in a state where the connecting member main body 241 is housed in the housing portion forming members 270 and 271, and it is possible to reliably prevent the load from falling.
  • the pair of hook members 242 have side protrusions 242B on their outer side portions, and the lower accommodating portion forming member 271 accommodates the connecting member main body 241 when the connecting member main body 241 is accommodated.
  • the side protrusions 242B of the pair of hook members 242 abut against the cylindrical portion 271A in a state where the connecting member main body 241 is accommodated in the lower accommodating portion forming member 271 having the cylindrical portion 271A located around the above.
  • the pair of hook members 242 are restrained in the closed state.
  • the pair of hook members 242 can be restrained in the closed state by winding up the connecting member 240 and accommodating it in the lower accommodating portion forming member 271 without providing a new configuration with a simple configuration. ..
  • Unmanned aircraft 100 Unmanned aircraft main body 101: Main body 102: Motor 103: Rotor 104A: Front arm 104B: Central arm 104C: Rear arm 105: Landing gear 105A: Main landing gear 105B: Grounding gear 106: Mounting base 106A: Board 106B: Column 106C: Opening 200: Luggage connecting device 210: Hoisting device 211: Reel 212: Motor 220: Suspension device 221: Pulley 230: Latch device 231: Mechanism body 231A: Accommodation hole 231B: Slit 232: Projection Member 232A: Widening portion 232B: Through hole 233: Spring member 234: Gear 235: Motor 240: Connecting member 240A: Intermediate plate portion 240B: Cylindrical portion 240C: Head 240D: Lower plate portion 240E: Recessed portion 240F: Notch portion 241 : Connecting member body 242: Hook member 242A: Hook-shaped portion 242B: Side protru

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Abstract

Provided is a cargo connection device capable of reliably preventing a cargo from falling.　This cargo connection device connects a cargo to an unmanned aerial vehicle and comprises a wire 250 which is suspended from the unmanned aerial vehicle body and a connection member 240 which is attached to a lower side of the wire 250 and can be connected to a cargo. The connection member 240 includes a pair of hook members 242 each of which is in a claw shape and can turn around a turn axis extending in a lateral direction. The pair of hook members 242 can turn between an open state in which a gap is formed between distal ends of the pair of hook members 242 and a closed state in which the gap between the distal ends of the pair of hook members 242 is closed. The pair of hook members 242 are configured to be biased so as to be brought into the closed state by a load of the cargo when a handle 300 of the cargo is hung on the pair of hook members 242.

Description

荷物連結装置、及び、無人航空機Luggage coupling device and unmanned aerial vehicle
　本発明は、荷物連結装置、及び、無人航空機に関する。 The present invention relates to a luggage connecting device and an unmanned aerial vehicle.
　近年、無人航空機（ドローン）を使用した荷物の配達に関する技術の開発が進んでいる。ドローンを使用した荷物の配達では、荷物をドローンに一体化した状態でドローンを配送先まで飛行させ、配送先において荷物を開放する。ドローンに荷物を一体化させる方法としては、例えば、特許文献１に記載されているようにドローンから下端にフック（連結部材）が取り付けられたワイヤ（テザー）を吊り下げ、フックに荷物を固定する装置などが知られている。 In recent years, the development of technology related to the delivery of luggage using unmanned aerial vehicles (drones) is progressing. In the delivery of luggage using a drone, the drone is flown to the delivery destination with the luggage integrated with the drone, and the luggage is released at the delivery destination. As a method of integrating the luggage into the drone, for example, as described in Patent Document 1, a wire (tether) having a hook (connecting member) attached to the lower end is hung from the drone, and the luggage is fixed to the hook. Devices and the like are known.
米国特許出願公開第２０１９／３３７６２１号U.S. Patent Application Publication No. 2019/337621
　特許文献１に記載されたフックは、側面にスロットが形成されており、このスロットに荷物の取手を引っ掛けることによりフックを荷物に取り付けている。しかしながら、このような構成のフックでは、予期しない強風などの際に取手がスロットから離脱し、荷物が落下するおそれがある。 The hook described in Patent Document 1 has a slot formed on the side surface, and the hook is attached to the luggage by hooking the handle of the luggage in this slot. However, with a hook having such a configuration, the handle may come off the slot in the event of an unexpected strong wind or the like, and the load may fall.
　本発明は、上記の課題に鑑みなされたものであり、その目的は、荷物の落下を確実に防止できる荷物連結装置を提供することを目的としている。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a luggage connecting device capable of reliably preventing a luggage from falling.
　本発明の荷物連結装置は、無人航空機本体から懸下される懸下部材と、懸下部材の下方に取り付けられ、荷物に連結可能な連結部材と、を備えた無人航空機に荷物を連結するための荷物連結装置であって、連結部材は、横方向に延びる回動軸周りに回動可能な鉤爪状の一対のフック部材を含み、一対のフック部材は、一対のフック部材の先端の間に隙間が形成された開状態と、一対のフック部材の先端の間が閉じた閉状態との間で回動可能であり、一対のフック部材は、荷物を一対のフック部材に引っ掛けた際に、荷物の荷重により閉状態となるように付勢されるように構成されている。 The luggage connecting device of the present invention is for connecting luggage to an unmanned aerial vehicle provided with a hanging member suspended from the main body of the unmanned aerial vehicle and a connecting member attached below the hanging member and connectable to the luggage. In the luggage connecting device, the connecting member includes a pair of hook members in the shape of hooks that can rotate around a axis of rotation extending laterally, and the pair of hook members are between the tips of the pair of hook members. It can rotate between the open state where a gap is formed and the closed state where the tips of the pair of hook members are closed, and the pair of hook members can be used when the load is hooked on the pair of hook members. It is configured to be urged to be closed by the load of the luggage.
　本発明において、好ましくは、連結部材は、一対のフック部材が開状態となるように付勢する付勢部材をさらに含み、一対のフック部材に作用する荷物の荷重が減少し、荷物の荷重により一対のフック部材に作用する閉状態へと付勢する力よりも付勢部材の付勢力が大きくなると、一対のフック部材が開状態へと回動する。 In the present invention, preferably, the connecting member further includes an urging member that urges the pair of hook members to be in an open state, the load of the load acting on the pair of hook members is reduced, and the load of the load reduces the load. When the urging force of the urging member becomes larger than the urging force acting on the pair of hook members to the closed state, the pair of hook members rotate to the open state.
　本発明において、好ましくは、フック部材の先端部の上面は、先端に向かって回動軸からの距離が減少するように形成されている。 In the present invention, preferably, the upper surface of the tip end portion of the hook member is formed so that the distance from the rotation shaft decreases toward the tip end portion.
　本発明において、好ましくは、連結部材は懸下部材が接続され、一対のフック部材が回動可能に取り付けられた連結部材本体を含み、荷物連結装置は、無人航空機本体に取り付けられ、懸下部材を巻き上げ及び巻き出し可能な巻上装置と、無人航空機本体に取り付けられ、連結部材本体を収容可能な収容部形成部材と、をさらに備える。 In the present invention, preferably, the connecting member includes a connecting member main body to which the hanging member is connected and a pair of hook members are rotatably attached, and the luggage connecting device is attached to the unmanned aerial vehicle main body and the hanging member. Further includes a hoisting device capable of hoisting and unwinding, and a housing portion forming member attached to the main body of the unmanned aerial vehicle and capable of accommodating the main body of the connecting member.
　本発明において、好ましくは、連結部材本体は、側面に凹部が形成されており、荷物連結装置は、収容部形成部材内に連結部材本体を収容した状態で、凹部に挿入可能なラッチ部材を含む。 In the present invention, preferably, the connecting member main body is formed with a recess on the side surface, and the luggage connecting device includes a latch member that can be inserted into the recess while the connecting member main body is housed in the accommodating portion forming member. ..
　本発明において、好ましくは、ラッチ部材は、収容部形成部材内に進出するように付勢されており、連結部材本体は上部が上方に向かって先細り形状に形成されている。 In the present invention, preferably, the latch member is urged to advance into the accommodating portion forming member, and the upper portion of the connecting member main body is formed in a tapered shape upward.
　本発明において、好ましくは、収容部形成部材は、収容部形成部材内に連結部材本体が収容された状態で、一対のフック部材を閉状態で拘束するように構成されている。 In the present invention, the accommodating portion forming member is preferably configured to restrain the pair of hook members in a closed state while the connecting member main body is accommodated in the accommodating portion forming member.
　本発明の荷物連結装置は、無人航空機本体から懸下される懸下部材と、懸下部材の下方に取り付けられ、荷物に連結可能な連結部材と、無人航空機本体に取り付けられ、懸下部材を巻き上げ及び巻き出し可能な巻上装置と、を備えた無人航空機に荷物を連結するための荷物連結装置であって、連結部材は、懸下部材が接続された連結部材本体と、連結部材本体に、横方向に延びる回動軸周りに回動可能に取り付けられた鉤爪状の一対のフック部材と、を含み、一対のフック部材は、当該一対のフック部材の先端の間に隙間が形成された開状態と、一対のフック部材の先端の間が閉じた閉状態との間で回動可能であり、荷物連結装置は、無人航空機本体に取り付けられ、連結部材本体を収容可能な収容部形成部材をさらに備え、収容部形成部材は、収容部形成部材内に連結部材本体が収容された状態で、一対のフック部材を閉状態で拘束するように構成されている、ことを特徴とする。 The luggage connecting device of the present invention has a hanging member suspended from the unmanned aerial vehicle main body, a connecting member attached below the hanging member and connectable to the luggage, and a hanging member attached to the unmanned aerial vehicle main body. It is a luggage connecting device for connecting luggage to an unmanned aerial vehicle equipped with a hoisting and unwinding hoisting device, and the connecting member is a connecting member main body to which a hanging member is connected and a connecting member main body. , A pair of hook-shaped hook members rotatably attached around a laterally extending rotation axis, the pair of hook members having a gap formed between the tips of the pair of hook members. A storage unit forming member that can rotate between the open state and the closed state in which the tips of the pair of hook members are closed, and the luggage connecting device is attached to the unmanned aerial vehicle body and can accommodate the connecting member body. Further, the accommodating portion forming member is configured to restrain the pair of hook members in a closed state while the connecting member main body is accommodated in the accommodating portion forming member.
　本発明において、好ましくは、一対のフック部材は、それぞれの外側側部に突部を有し、収容部形成部材は、連結部材本体を収容した際に連結部材本体の周囲に位置する筒体を有し、収容部形成部材に連結部材本体が収容された状態で、一対のフック部材の突部が筒体に当接することにより、一対のフック部材は閉状態で拘束される。 In the present invention, preferably, the pair of hook members have protrusions on their outer side portions, and the accommodating portion forming member has a tubular body located around the connecting member main body when the connecting member main body is accommodated. The pair of hook members are restrained in the closed state by the protrusions of the pair of hook members coming into contact with the tubular body while the main body of the connecting member is accommodated in the accommodating portion forming member.
　本発明の無人航空機は、無人航空機本体と、無人航空機本体に取り付けられた上記の荷物連結装置と、を備える。 The unmanned aerial vehicle of the present invention includes an unmanned aerial vehicle main body and the above-mentioned luggage connecting device attached to the unmanned aerial vehicle main body.
　本発明によれば、荷物の落下を確実に防止できる荷物連結装置が提供される。 According to the present invention, a luggage connecting device capable of reliably preventing a luggage from falling is provided.
本発明の一実施形態による無人航空機（マルチコプタ）示す上方斜視図である。It is an upper perspective view which shows the unmanned aerial vehicle (multicopter) by one Embodiment of this invention. 本発明の一実施形態による無人航空機（マルチコプタ）示す下方斜視図である。It is a lower perspective view which shows the unmanned aerial vehicle (multicopter) by one Embodiment of this invention. 本発明の一実施形態による無人航空機（マルチコプタ）示す上面図である。It is a top view which shows the unmanned aerial vehicle (multicopter) by one Embodiment of this invention. 図１に示す無人航空機に搭載された荷物連結装置を示す上方斜視図である。FIG. 3 is an upward perspective view showing a luggage connecting device mounted on the unmanned aerial vehicle shown in FIG. 1. 図１に示す無人航空機に搭載された荷物連結装置を示す下方斜視図である。FIG. 3 is a downward perspective view showing a luggage connecting device mounted on the unmanned aerial vehicle shown in FIG. 1. 図１に示す無人航空機に搭載された荷物連結装置を示す上面図である。It is a top view which shows the baggage connecting device mounted on the unmanned aerial vehicle shown in FIG. 図１に示す無人航空機に搭載された荷物連結装置を示す下面図である。It is a bottom view which shows the baggage connecting device mounted on the unmanned aerial vehicle shown in FIG. 図６におけるＸＩＩＩ－ＸＩＩＩ断面図である。6 is a cross-sectional view taken along the line XIII-XIII in FIG. 図８におけるＩＸ－ＩＸ断面図である。FIG. 8 is a cross-sectional view taken along the line IX-IX in FIG. 図１に示す無人航空機に搭載された荷物連結装置のワイヤ及び閉状態である連結部材を示す斜視図である。FIG. 3 is a perspective view showing a wire of a luggage connecting device mounted on an unmanned aerial vehicle shown in FIG. 1 and a connecting member in a closed state. 図１に示す無人航空機に搭載された荷物連結装置のワイヤ及び開状態である連結部材を示す側面図である。FIG. 3 is a side view showing a wire of a luggage connecting device mounted on an unmanned aerial vehicle shown in FIG. 1 and a connecting member in an open state. 図１に示す無人航空機に搭載された荷物連結装置のワイヤ及び閉状態である連結部材を示す側面図である。FIG. 3 is a side view showing a wire of a luggage connecting device mounted on an unmanned aerial vehicle shown in FIG. 1 and a connecting member in a closed state. 無人航空機により荷物を搬送する流れを説明するための鉛直断面図（その１）である。It is a vertical sectional view (No. 1) for explaining the flow of carrying a load by an unmanned aerial vehicle. 無人航空機により荷物を搬送する流れを説明するための鉛直断面図（その２）である。It is a vertical sectional view (No. 2) for explaining the flow of carrying a load by an unmanned aerial vehicle. 無人航空機により荷物を搬送する流れを説明するための鉛直断面図（その３）である。It is a vertical sectional view (No. 3) for explaining the flow of carrying a load by an unmanned aerial vehicle. 無人航空機により荷物を搬送する流れを説明するための鉛直断面図（その４）である。It is a vertical sectional view (No. 4) for explaining the flow of carrying a load by an unmanned aerial vehicle. 無人航空機により荷物を搬送する流れを説明するための鉛直断面図（その５）である。It is a vertical sectional view (No. 5) for explaining the flow of carrying a load by an unmanned aerial vehicle. 無人航空機により荷物を搬送する流れを説明するための鉛直断面図（その６）である。It is a vertical sectional view (No. 6) for explaining the flow of carrying a load by an unmanned aerial vehicle. 無人航空機により荷物を搬送する流れを説明するための鉛直断面図（その７）である。It is a vertical sectional view (No. 7) for explaining the flow of carrying a load by an unmanned aerial vehicle. 無人航空機により荷物を搬送する流れを説明するための鉛直断面図（その８）である。It is a vertical sectional view (No. 8) for explaining the flow of carrying a load by an unmanned aerial vehicle.
　以下、本発明の一実施形態による無人航空機を、図面を参照しながら説明する。ただし本発明は以下に説明する具体的態様に限定されるわけではなく、本発明の技術思想の範囲内で種々の態様を取り得る。例えば、本発明の無人航空機は、図１に示すマルチコプタに限らず、回転翼機、固定翼機等、任意の無人航空機であってよいし、また自律飛行型の無人航空機である必要もない。 Hereinafter, an unmanned aerial vehicle according to an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the specific embodiments described below, and various embodiments may be taken within the scope of the technical idea of the present invention. For example, the unmanned aerial vehicle of the present invention is not limited to the multicopter shown in FIG. 1, and may be any unmanned aerial vehicle such as a rotary wing aircraft or a fixed wing aircraft, and does not have to be an autonomous flight type unmanned aerial vehicle.
　図１～図３は、本発明の一実施形態による無人航空機（マルチコプタ）を示し、図１は上方斜視図、図２は下方斜視図、図３は上面図である。図１～図３に示すように、本実施形態の無人航空機１０は、無人航空機本体１００と、無人航空機本体１００の下部に取り付けられた荷物連結装置２００と、を備える。 1 to 3 show an unmanned aerial vehicle (multicopter) according to an embodiment of the present invention, FIG. 1 is an upper perspective view, FIG. 2 is a lower perspective view, and FIG. 3 is a top view. As shown in FIGS. 1 to 3, the unmanned aerial vehicle 10 of the present embodiment includes an unmanned aerial vehicle main body 100 and a luggage connecting device 200 attached to the lower part of the unmanned aerial vehicle main body 100.
　無人航空機本体１００は、本体部１０１と、本体部１０１から延びる６つのアーム１０４Ａ～１０４Ｃと、本体部１０１から下方に延びる一対の着陸脚１０５と、を備える。本体部１０１、アーム１０４Ａ～１０４Ｃ、及び着陸脚１０５は、前後方向に延びる平面に対して（すなわち、図３の左右方向に延びる面）左右対称な構成となっている。 The unmanned aerial vehicle main body 100 includes a main body portion 101, six arms 104A to 104C extending from the main body portion 101, and a pair of landing gears 105 extending downward from the main body portion 101. The main body 101, the arms 104A to 104C, and the landing gear 105 have a symmetrical configuration with respect to a plane extending in the front-rear direction (that is, a plane extending in the left-right direction in FIG. 3).
　本体部１０１はドーム状に形成されており、内部に収容空間が形成されている。本体部１０１には、バッテリー、制御回路、飛行位置センサ、カメラ、アンテナ等が搭載されている。制御回路は、例えばＣＰＵなどの処理装置と、メモリなどの記憶装置とを備え、メモリには、無人航空機本体の飛行を制御する飛行制御プログラム、荷物連結装置２００の荷物連結駆動を制御する荷物連結駆動制御プログラム、荷物連結装置２００の荷下ろし駆動を制御する荷下ろし制御プログラム、及び、荷物の配送経路及び配送先の場所に関する配送経路データなどが記憶されている。 The main body 101 is formed in a dome shape, and a storage space is formed inside. A battery, a control circuit, a flight position sensor, a camera, an antenna, and the like are mounted on the main body 101. The control circuit includes, for example, a processing device such as a CPU and a storage device such as a memory. The memory includes a flight control program for controlling the flight of the unmanned aircraft body and a luggage connection for controlling the luggage connection drive of the luggage connection device 200. A drive control program, an unloading control program for controlling the unloading drive of the luggage connecting device 200, and delivery route data regarding the delivery route and the delivery destination location of the luggage are stored.
　アーム１０４Ａ～１０４Ｃは、着陸状態において本体部１０１から水平に延びている。アーム１０４Ａ～１０４Ｃは、本体部１０１の前後方向中央から横方向（図３の上下方向）に延びる一対の中央アーム１０４Ｂと、本体部１０１の前部（図３の右部）から前方に向かって横方向に広がるように斜めに延びる一対の前方アーム１０４Ａと、本体部の後部（図３の左部）から後方に向かって横方向に広がるように延びる一対の後方アーム１０４Ｃと、を含む。 Arms 104A to 104C extend horizontally from the main body 101 in the landing state. The arms 104A to 104C are a pair of central arms 104B extending laterally (vertical direction in FIG. 3) from the center in the front-rear direction of the main body 101, and forward from the front portion (right portion in FIG. 3) of the main body 101. It includes a pair of front arms 104A extending obliquely so as to spread laterally, and a pair of rear arms 104C extending laterally outward from the rear part of the main body (left part in FIG. 3).
　着陸脚１０５は、本体部１０１の両側から下方に延びる主脚部１０５Ａと、主脚部１０５Ａの下端に接続された接地部１０５Ｂとを含む。主脚部１０５Ａは円柱状であり、本体部１０１の前後方向の中央の両側から、斜め下方に向かって横方向に広がるように斜めに延びている。接地部１０５Ｂは円柱状であり、主脚部１０５Ａと垂直に前後方向に延びている。 The landing gear 105 includes a main landing gear 105A extending downward from both sides of the main landing gear 101 and a ground contact portion 105B connected to the lower end of the main landing gear 105A. The main landing gear 105A has a columnar shape, and extends diagonally downward from both sides of the center of the main body 101 in the front-rear direction so as to spread laterally. The ground contact portion 105B has a columnar shape and extends in the front-rear direction perpendicular to the main landing gear portion 105A.
　また、無人航空機本体１００は、６つのモータ１０２と、各々のモータ１０２の駆動により回転して揚力を発生させる６つのロータ（回転翼）１０３と、を備える。モータ１０２は、それぞれ、アーム１０４Ａ～１０４Ｃの先端に固定されている。モータ１０２は本体部１０１に収容されたバッテリーにより電力供給されて回転駆動し、その回転数は制御回路によりスピードコントローラを用いて制御される。各ロータ１０３は、アーム１０４Ａ～１０４Ｃの上方に設けられている。 Further, the unmanned aerial vehicle main body 100 includes six motors 102 and six rotors (rotor blades) 103 that rotate by driving each motor 102 to generate lift. The motors 102 are fixed to the tips of the arms 104A to 104C, respectively. The motor 102 is powered by a battery housed in the main body 101 and driven to rotate, and the rotation speed is controlled by a control circuit using a speed controller. Each rotor 103 is provided above the arms 104A to 104C.
　無人航空機本体１００は、制御回路からの制御信号により６つのモータ１０２が回転させられ、６つのロータ１０３の各々の回転数を制御することにより、上昇、下降、前後左右への飛行、旋回等の飛行が制御される。 In the unmanned aerial vehicle main body 100, six motors 102 are rotated by a control signal from a control circuit, and by controlling the rotation speed of each of the six rotors 103, ascending, descending, flying forward / backward / left / right, turning, etc. Flight is controlled.
　無人航空機本体１００は、さらに、本体部１０１の下部に取り付けられた取付架台１０６を有する。取付架台１０６は、長方形状の基板１０６Ａと、基板１０６Ａの四隅から本体部１０１まで延びる４つの柱部１０６Ｂとを有する。取付架台１０６の基板１０６Ａは、無人航空機本体１００が着陸状態、又は、ホバリング状態にある場合に水平になるように本体部１０１に取り付けられている。基板１０６Ａの中央には、円形の開口１０６Ｃ（図８）が形成されている。この開口１０６Ｃ（図８）の直径は、後述する連結部材２４０の中間板部２４０Ａの直径よりも大きい。 The unmanned aerial vehicle main body 100 further has a mounting base 106 attached to the lower part of the main body portion 101. The mounting base 106 has a rectangular board 106A and four pillars 106B extending from the four corners of the board 106A to the main body 101. The substrate 106A of the mounting base 106 is attached to the main body 101 so as to be horizontal when the unmanned aerial vehicle main body 100 is in the landing state or the hovering state. A circular opening 106C (FIG. 8) is formed in the center of the substrate 106A. The diameter of the opening 106C (FIG. 8) is larger than the diameter of the intermediate plate portion 240A of the connecting member 240 described later.
　図４～図７は、図１に示す無人航空機に搭載された荷物連結装置を示す図であり、図４は上方斜視図、図５は下方斜視図、図６は上面図、図７は下面図である。また、図８は、図６におけるＸＩＩＩ－ＸＩＩＩ断面図であり、図９は、図８におけるＩＸ－ＩＸ断面図である。なお、図８では上方収容部形成部材及び下方収容部形成部材の内側を分解して示す。また、図９では、連結部材を省略して示す。さらに、図１０～図１２は、図１に示す無人航空機に搭載された荷物連結装置のワイヤ及び連結部材を示し、図１０は連結部材が閉状態である斜視図、図１１は連結部材が開状態である側面図、図１２は連結部材が閉状態である側面図である。図４～図７に示すように、荷物連結装置２００は、懸下部材としてのワイヤ２５０と、ワイヤ２５０に接続された連結部材２４０と、連結部材２４０を収容するための連結部材収容装置２６０と、を備える。 4 to 7 are views showing a luggage connecting device mounted on the unmanned aerial vehicle shown in FIG. 1, FIG. 4 is an upper perspective view, FIG. 5 is a lower perspective view, FIG. 6 is a top view, and FIG. 7 is a bottom view. It is a figure. 8 is a cross-sectional view taken along the line XIII-XIII in FIG. 6, and FIG. 9 is a cross-sectional view taken along the line IX-IX in FIG. In addition, in FIG. 8, the inside of the upper accommodating portion forming member and the lower accommodating portion forming member is disassembled and shown. Further, in FIG. 9, the connecting member is omitted. Further, FIGS. 10 to 12 show a wire and a connecting member of the luggage connecting device mounted on the unmanned aerial vehicle shown in FIG. 1, FIG. 10 is a perspective view in which the connecting member is in a closed state, and FIG. 11 is a perspective view in which the connecting member is open. A side view showing the state, FIG. 12 is a side view showing the connecting member in the closed state. As shown in FIGS. 4 to 7, the luggage connecting device 200 includes a wire 250 as a suspension member, a connecting member 240 connected to the wire 250, and a connecting member accommodating device 260 for accommodating the connecting member 240. , Equipped with.
　図１０～図１２に示すように、連結部材２４０は、連結部材本体２４１と、一対のフック部材２４２と、を含み、例えば、樹脂や金属などにより形成されている。連結部材本体２４１は、側方から見て全体として略楕円形に形成されている。連結部材本体２４１は、中間板部２４０Ａと、中間板部２４０Ａの上面に立設された円柱部２４０Ｂと、円柱部２４０Ｂの上部に接続された頭部２４０Ｃと、中間板部２４０Ａの下方に立設された下部板部２４０Ｄと、を備える。 As shown in FIGS. 10 to 12, the connecting member 240 includes a connecting member main body 241 and a pair of hook members 242, and is formed of, for example, resin or metal. The connecting member main body 241 is formed in a substantially elliptical shape as a whole when viewed from the side. The connecting member main body 241 stands below the intermediate plate portion 240A, the cylindrical portion 240B erected on the upper surface of the intermediate plate portion 240A, the head 240C connected to the upper part of the cylindrical portion 240B, and the intermediate plate portion 240A. The lower plate portion 240D provided is provided.
　中間板部２４０Ａは、円形の平坦な板状の部位からなる。中間板部２４０Ａはワイヤ２５０により連結部材２４０を懸下した際に水平になるように設けられている。円柱部２４０Ｂは、中間板部２４０Ａの直径よりも小さい直径の円柱状に形成された部位からなる。円柱部２４０Ｂは、中心軸が中間板部２４０Ａの中心軸と一致するように、中間板部２４０Ａ上に立設されている。 The intermediate plate portion 240A is composed of a circular flat plate-shaped portion. The intermediate plate portion 240A is provided so as to be horizontal when the connecting member 240 is suspended by the wire 250. The columnar portion 240B is composed of a portion formed in a cylindrical shape having a diameter smaller than the diameter of the intermediate plate portion 240A. The columnar portion 240B is erected on the intermediate plate portion 240A so that the central axis coincides with the central axis of the intermediate plate portion 240A.
　頭部２４０Ｃは、中心軸周りに回転対称な形状であり、断面形状は楕円の長軸の一方側端部形状になっている。これにより、頭部２４０Ｃは上方に向かって直径が小さくなるような先細り形状になっている。頭部２４０Ｃの中心軸は中間板部２４０Ａ及び円柱部２４０Ｂの中心軸と一致している。また、頭部２４０Ｃの下面は平坦に形成されている。このような構成により、頭部２４０Ｃと中間板部２４０Ａとの間には、水平断面形状が円環状の凹部２４０Ｅが形成されている。 The head 240C has a shape that is rotationally symmetric around the central axis, and the cross-sectional shape is the shape of one end of the long axis of the ellipse. As a result, the head 240C has a tapered shape such that the diameter decreases upward. The central axis of the head 240C coincides with the central axis of the intermediate plate portion 240A and the cylindrical portion 240B. Further, the lower surface of the head 240C is formed flat. With such a configuration, a recess 240E having an annular horizontal cross-sectional shape is formed between the head 240C and the intermediate plate portion 240A.
　下部板部２４０Ｄは、楕円の長軸の一方側の半分に対応する形状の平坦な板状の部位からなる。下部板部２４０Ｄは、中間板部２４０Ａの下面に垂直に立設されている。中間板部２４０Ａの下端には上方に向かって逆Ｖ字型の切り欠き部２４０Ｆが形成されている。 The lower plate portion 240D is composed of a flat plate-shaped portion having a shape corresponding to one half of the long axis of the ellipse. The lower plate portion 240D is erected vertically on the lower surface of the intermediate plate portion 240A. An inverted V-shaped notch 240F is formed upward at the lower end of the intermediate plate portion 240A.
　一対のフック部材２４２は全体として鉤爪状の同一の部材であり、それぞれ、鉤爪状部２４２Ａと、側方突部２４２Ｂと、中心突部２４２Ｇと、を有する。一対のフック部材２４２は、それぞれ、下部板部２４０Ｄの両面に立設された回動軸２４３を中心に回動可能に、先端部２４２Ｅが横方向に反対方向を向いた状態で接続されている。回動軸２４３は、下部板部２４０Ｄの切り欠き部２４０Ｆの上方の幅方向中央に形成されている。これにより、一対のフック部材２４２はそれぞれ下部板部２４０Ｄに平行に回動可能である。 The pair of hook members 242 are the same claw-shaped members as a whole, and each has a claw-shaped portion 242A, a side protrusion 242B, and a central protrusion 242G, respectively. The pair of hook members 242 are connected so as to be rotatable around a rotation shaft 243 erected on both sides of the lower plate portion 240D, with the tip portion 242E facing in the opposite direction in the lateral direction. .. The rotation shaft 243 is formed in the center in the width direction above the notch portion 240F of the lower plate portion 240D. As a result, the pair of hook members 242 can rotate in parallel with the lower plate portion 240D, respectively.
　鉤爪状部２４２Ａは、それぞれ基端部２４２Ｃと、基端部２４２Ｃに連続する中間部２４２Ｄと、中間部２４２Ｄから連続する先端部２４２Ｅとを含む。基端部２４２Ｃは、一端部が略円形に形成されており、この略変形の部分に着地状態で水平方向に延びる回動軸２４３が接続されている。基端部２４２Ｃは、図１２に示すように連結部材２４０が閉状態にある際に、回動軸２４３から下方に向かって側方に斜めに延びている。中間部２４２Ｄは、基端部２４２Ｃから連結部材２４０の横方向中心に向かって斜め下方に延びている。また、先端部２４２Ｅは中間部２４２Ｄの先端から側方に向かって斜め上方に延びている。これにより、鉤爪状部２４２Ａの上面は、基端部２４２Ｃと中間部２４２Ｄの間から先端に向かって回動軸２４３からの距離が大きくなり、中間部２４２Ｄと先端部２４２Ｅとの境界部で回動軸２４３からの距離が最大になり、先端部２４２Ｅの先端に向かって回動軸２４３からの距離が小さくなるように形成されている。このような形状により、鉤爪状部２４２Ａの上面に荷物の取手が引掛けられると、取手は中間部２４２Ｄと先端部２４２Ｅの境界部に移動する。そして、所定よりも大きな荷物の自重が鉤爪状部２４２Ａに作用し、中間部２４２Ｄと先端部２４２Ｅの境界部がともに回転軸の２４３に下方に位置するような位置まで一対のフック部材２４２が回動する。このような状態では、一対の鉤爪状部２４２Ａは横方向から見て重なっており、フック部材２４２の間に隙間がない閉状態となる。なお、フック部材２４２が開状態から閉状態に回動するような所定の荷物の荷重は、付勢部材２４４の付勢力により決定される。 The claw-shaped portion 242A includes a base end portion 242C, an intermediate portion 242D continuous with the base end portion 242C, and a tip portion 242E continuous from the intermediate portion 242D, respectively. One end of the base end portion 242C is formed in a substantially circular shape, and a rotation shaft 243 extending in the horizontal direction in a landed state is connected to the substantially deformed portion. As shown in FIG. 12, the base end portion 242C extends downwardly and laterally from the rotation shaft 243 when the connecting member 240 is in the closed state. The intermediate portion 242D extends obliquely downward from the base end portion 242C toward the lateral center of the connecting member 240. Further, the tip portion 242E extends diagonally upward from the tip of the intermediate portion 242D toward the side. As a result, the upper surface of the claw-shaped portion 242A increases the distance from the rotation shaft 243 from between the base end portion 242C and the intermediate portion 242D toward the tip end, and rotates at the boundary portion between the intermediate portion 242D and the tip end portion 242E. It is formed so that the distance from the moving shaft 243 is maximized and the distance from the rotating shaft 243 is reduced toward the tip of the tip portion 242E. With such a shape, when the handle of the load is hooked on the upper surface of the claw-shaped portion 242A, the handle moves to the boundary portion between the intermediate portion 242D and the tip portion 242E. Then, the weight of the load larger than the predetermined value acts on the claw-shaped portion 242A, and the pair of hook members 242 rotate to a position where the boundary portion between the intermediate portion 242D and the tip portion 242E is both located below the rotation axis 243. Move. In such a state, the pair of claw-shaped portions 242A overlap each other when viewed from the lateral direction, and are in a closed state with no gap between the hook members 242. The load of a predetermined load such that the hook member 242 rotates from the open state to the closed state is determined by the urging force of the urging member 244.
　側方突部２４２Ｂは、図１２に示すように連結部材２４０が閉状態にある際に、側方に延びるように基端部２４２Ｃの外側側部から突出している。中心突部２４２Ｇは、図１２に示すように連結部材２４０が閉状態にある際に、基端部２４２Ｃの円形状の部分から、側方突部２４２Ｂと逆側に向かって突出している。 As shown in FIG. 12, the lateral protrusion 242B protrudes from the outer side portion of the base end portion 242C so as to extend laterally when the connecting member 240 is in the closed state. As shown in FIG. 12, the central protrusion 242G projects from the circular portion of the base end portion 242C toward the side opposite to the side protrusion 242B when the connecting member 240 is in the closed state.
　一対のフック部材２４２の中心突部２４２Ｇは、例えば、ばねなどの伸縮可能な付勢部材２４４により接続されている。付勢部材２４４は一端が一方のフック部材２４２の中心突部２４２Ｇに接続され、下方に延び、下部板部２４０Ｄの切り欠き部２４０Ｆを通って上方に延び、他方の端部がフック部材２４２の中心突部２４２Ｇに接続されている。また、付勢部材２４４は、伸長された状態で一対のフック部材２４２の中心突部２４２Ｇの間を結ぶように連結されている。これにより、一対のフック部材２４２には、それぞれ、付勢部材２４４により中心突部２４２Ｇに下方に向かう付勢力が作用する。この付勢部材２４４からの付勢力は、一対のフック部材２４２の基端部２４２Ｃが離間するように回動する力として作用する。これにより、一対のフック部材２４２は、荷物が連結されていない状態では、付勢部材２４４により一対のフック部材２４２が回動し、図１２に示すように、一対のフック部材２４２の先端部２４２Ｅの間に隙間が生じるような開状態となる。 The central protrusion 242G of the pair of hook members 242 is connected by a stretchable urging member 244 such as a spring. One end of the urging member 244 is connected to the central protrusion 242G of one hook member 242, extends downward, extends upward through the notch 240F of the lower plate portion 240D, and the other end of the hook member 242. It is connected to the central protrusion 242G. Further, the urging member 244 is connected so as to connect between the central protrusions 242G of the pair of hook members 242 in an extended state. As a result, a downward urging force acts on the central protrusion 242G by the urging member 244, respectively, on the pair of hook members 242. The urging force from the urging member 244 acts as a force for rotating the base end portions 242C of the pair of hook members 242 so as to be separated from each other. As a result, in the state where the load is not connected to the pair of hook members 242, the pair of hook members 242 are rotated by the urging member 244, and as shown in FIG. 12, the tip portion 242E of the pair of hook members 242E is rotated. It becomes an open state so that a gap is created between the two.
　図８及び図９に示すように、連結部材収容装置２６０は基板１０６Ａ上に固定されており、巻上装置２１０と、懸下装置２２０と、一対のラッチ装置２３０と、上方収容部形成部材２７０と、下方収容部形成部材２７１を有する。 As shown in FIGS. 8 and 9, the connecting member accommodating device 260 is fixed on the substrate 106A, and the hoisting device 210, the suspension device 220, the pair of latch devices 230, and the upper accommodating portion forming member 270. And has a lower accommodating portion forming member 271.
　上方収容部形成部材２７０は、円筒状の円筒部２７０Ａ（図４）と、円筒部２７０Ａの下端から側方に延びるフランジ部２７０Ｂ（図４）と、を有する。上方収容部形成部材２７０は、基板１０６Ａの上面にフランジ部２７０Ｂが固定されることにより、基板１０６Ａに取り付けられている。上方収容部形成部材２７０の円筒部２７０Ａの内側の円柱状の空間は、基板１０６Ａの開口１０６Ｃ（図８）と連通している。また、図８及び図９に示すように、上方収容部形成部材２７０の両側部には、それぞれ開口部２７０Ｃが形成されている。 The upper accommodating portion forming member 270 has a cylindrical cylindrical portion 270A (FIG. 4) and a flange portion 270B (FIG. 4) extending laterally from the lower end of the cylindrical portion 270A. The upper accommodating portion forming member 270 is attached to the substrate 106A by fixing the flange portion 270B to the upper surface of the substrate 106A. The cylindrical space inside the cylindrical portion 270A of the upper accommodating portion forming member 270 communicates with the opening 106C (FIG. 8) of the substrate 106A. Further, as shown in FIGS. 8 and 9, openings 270C are formed on both sides of the upper accommodating portion forming member 270, respectively.
　下方収容部形成部材２７１は、円筒状の円筒部２７１Ａと、円筒部２７１Ａの上端から側方に延びるフランジ部２７１Ｂと、を有する。下方収容部形成部材２７１は、基板１０６Ａの下面にフランジ部２７１Ｂが固定されることにより、基板１０６Ａに取り付けられている。下方収容部形成部材２７１の円筒部２７１Ａの内側の円柱状の空間は、基板１０６Ａの開口１０６Ｃ（図８）と連通している。 The lower accommodating portion forming member 271 has a cylindrical cylindrical portion 271A and a flange portion 271B extending laterally from the upper end of the cylindrical portion 271A. The lower accommodating portion forming member 271 is attached to the substrate 106A by fixing the flange portion 271B to the lower surface of the substrate 106A. The cylindrical space inside the cylindrical portion 271A of the lower accommodating portion forming member 271 communicates with the opening 106C (FIG. 8) of the substrate 106A.
　上方収容部形成部材２７０の円筒部２７０Ａ及び下方収容部形成部材２７１の円筒部２７１Ａの内部空間は、基板１０６Ａの円形の開口を通じて連続しており、これにより、円柱状の収容空間２７３が形成されている。 The internal space of the cylindrical portion 270A of the upper accommodating portion forming member 270 and the cylindrical portion 271A of the lower accommodating portion forming member 271 is continuous through the circular opening of the substrate 106A, whereby the cylindrical accommodating space 273 is formed. ing.
　図４～図７に示すように、巻上装置２１０は、モータ２１２と、モータ２１２により回転駆動されるリール２１１と、を備える。巻上装置２１０は、基板１０６Ａの開口の後方側にリール２１１が前後方向に向くように設置されている。巻上装置２１０のモータは制御回路により駆動を制御される。リール２１１には、ワイヤ２５０の端部が取り付けられており、モータを回転駆動させることにより、ワイヤ２５０を巻き上げ、及び、送出することができる。また、巻上装置２１０は、モータに作用する荷重を検知することができる。 As shown in FIGS. 4 to 7, the hoisting device 210 includes a motor 212 and a reel 211 rotationally driven by the motor 212. The hoisting device 210 is installed on the rear side of the opening of the substrate 106A so that the reel 211 faces in the front-rear direction. The drive of the hoisting device 210 is controlled by a control circuit. An end portion of the wire 250 is attached to the reel 211, and the wire 250 can be wound and unwound by rotationally driving the motor. Further, the hoisting device 210 can detect the load acting on the motor.
　懸下装置２２０は、上方収容部形成部材２７０の上方に配置されている。懸下装置２２０は、複数のプーリ２２１を備え、これら複数のプーリ２２１により巻上装置２１０から延びるワイヤ２５０が基板１０６Ａの開口１０６Ｃ（図８）の中心から下方に垂れ下がるように案内さされている。なお、懸下装置２２０の複数のプーリ２２１のうちの一部は、ばねなどの弾性部材により支持されている。 The suspension device 220 is arranged above the upper accommodating portion forming member 270. The suspension device 220 includes a plurality of pulleys 221 and the plurality of pulleys 221 guide the wire 250 extending from the hoisting device 210 so as to hang downward from the center of the opening 106C (FIG. 8) of the substrate 106A. .. A part of the plurality of pulleys 221 of the suspension device 220 is supported by an elastic member such as a spring.
　また、図８及び図９に示すように、一対のラッチ装置２３０は、開口１０６Ｃを挟んで水平方向に対応するように設けられている。 Further, as shown in FIGS. 8 and 9, the pair of latch devices 230 are provided so as to correspond to each other in the horizontal direction with the opening 106C interposed therebetween.
　各ラッチ装置２３０は、それぞれ、機構本体２３１と、機構本体２３１から開口１０６Ｃに向かって突出可能に設けられたラッチ部材としての突部材２３２と、突部材２３２を開口１０６Ｃに向かって付勢するばね部材２３３と、突部材２３２を駆動する歯車２３４と、歯車２３４を駆動するモータ２３５と、を有する。 Each latch device 230 has a mechanism main body 231 and a protrusion member 232 as a latch member provided so as to project from the mechanism main body 231 toward the opening 106C, and a spring that urges the protrusion member 232 toward the opening 106C. It has a member 233, a gear 234 for driving the protrusion member 232, and a motor 235 for driving the gear 234.
　機構本体２３１には開口１０６Ｃ側の面に開口する収容孔２３１Ａが形成されている。収容孔２３１Ａの出口側の端部は、断面形状が突部材２３２の外形に対応する矩形状に形成されており、収容孔２３１Ａの奥側は出口側の部分よりも幅広に形成されている。また、機構本体２３１の収容孔２３１Ａの上面には、収容孔２３１Ａ内に到達するようなスリット２３１Ｂが形成されている。スリット２３１Ｂは突部材２３２の突出方向に延びている。 The mechanism main body 231 is formed with a storage hole 231A that opens on the surface on the opening 106C side. The end portion on the outlet side of the accommodating hole 231A is formed in a rectangular shape whose cross-sectional shape corresponds to the outer shape of the projecting member 232, and the inner end side of the accommodating hole 231A is formed wider than the portion on the outlet side. Further, a slit 231B is formed on the upper surface of the accommodating hole 231A of the mechanism main body 231 so as to reach the inside of the accommodating hole 231A. The slit 231B extends in the projecting direction of the protrusion 232.
　突部材２３２は断面形状が矩形状に形成されており、機構本体２３１の収容孔２３１Ａ内に収容されている。これにより、突部材２３２は、開口１０６Ｃに向かって進退可能に案内される。また、突部材２３２の後部には、拡幅部２３２Ａが形成されており、これにより、突部材２３２が機構本体２３１から離脱するのが防止されている。突部材２３２の先端部に、上方に向かって先端側に進出するような傾斜面が形成されている。また、突部材２３２には前後方向に貫通する貫通穴２３２Ｂが形成されている。 The protrusion member 232 has a rectangular cross-sectional shape and is accommodated in the accommodating hole 231A of the mechanism main body 231. As a result, the protrusion member 232 is guided toward the opening 106C so as to be able to move forward and backward. Further, a widening portion 232A is formed at the rear portion of the protrusion member 232, whereby the protrusion member 232 is prevented from being separated from the mechanism main body 231. An inclined surface is formed at the tip of the protrusion 232 so as to advance upward toward the tip. Further, the protrusion 232 is formed with a through hole 232B that penetrates in the front-rear direction.
　ばね部材２３３は、収容孔２３１Ａ内に、突部材２３２と収容孔２３１Ａ内の壁面との間に収縮した状態で介装されている。これにより、突部材２３２は、常時、ばね部材２３３により先端部が機構本体２３１から突出するように付勢される。 The spring member 233 is interposed in the accommodating hole 231A in a contracted state between the protrusion member 232 and the wall surface in the accommodating hole 231A. As a result, the protrusion member 232 is constantly urged by the spring member 233 so that the tip portion thereof protrudes from the mechanism main body 231.
　歯車２３４は、モータ２３５に接続されており、モータ２３５により回転駆動される。歯車２３４は、突部材２３２の上方に当たる位置に配置されている。歯車２３４の歯が機構本体２３１の上面のスリット２３１Ｂに進入し、突部材２３２の貫通穴２３２Ｂ内に入り込んでいる。これにより、モータ２３５により歯車２３４されることにより、突部材２３２を退行させることができる。 The gear 234 is connected to the motor 235 and is rotationally driven by the motor 235. The gear 234 is arranged at a position above the protrusion member 232. The teeth of the gear 234 have entered the slit 231B on the upper surface of the mechanism main body 231 and have entered the through hole 232B of the protrusion 232. As a result, the protrusion member 232 can be regressed by the gear 234 being driven by the motor 235.
　以下、本実施形態の無人航空機により荷物を搬送する流れを説明する。図１３～図２０は、無人航空機により荷物を搬送する流れを説明するための鉛直断面図である。同図には、荷物連結装置２００の一対のラッチ装置２３０と、連結部材２４０と、ワイヤ２５０と、下方収容部形成部材２７１とのみを示す。本実施形態では、上部に取手が取り付けられた荷物を搬送する場合について説明する。 Hereinafter, the flow of transporting luggage by the unmanned aerial vehicle of the present embodiment will be described. 13 to 20 are vertical cross-sectional views for explaining a flow of transporting a load by an unmanned aerial vehicle. The figure shows only the pair of latch devices 230 of the cargo connecting device 200, the connecting member 240, the wire 250, and the lower accommodating portion forming member 271. In the present embodiment, a case of transporting a load having a handle attached to the upper part will be described.
　まず、無人航空機１０に荷物を連結する流れを説明する。なお、無人航空機１０に荷物を連結する工程は、無人航空機本体１００が着陸した状態で行うことが好ましいが、無人航空機本体１００がホバリングした状態で行うこともできる。荷物の連結は、制御回路が荷物連結駆動制御プログラムを実行することにより実施される。 First, the flow of connecting luggage to the unmanned aerial vehicle 10 will be explained. The step of connecting the luggage to the unmanned aerial vehicle 10 is preferably performed in a state where the unmanned aerial vehicle main body 100 has landed, but it can also be performed in a state where the unmanned aerial vehicle main body 100 is hovering. The cargo connection is carried out by the control circuit executing the load connection drive control program.
　荷物を連結する際には、図１３に示すように、巻上装置２１０によりワイヤ２５０を送り出し、連結部材２４０が下方収容部形成部材２７１内の収容空間から離脱し、懸下された状態にする。このように連結部材２４０を懸下状態とすることにより、連結部材２４０の付勢部材２４４により一対のフック部材２４２が付勢されて回動し、先端部２４２Ｅの間に隙間が形成された開状態となる。 When connecting the loads, as shown in FIG. 13, the wire 250 is sent out by the hoisting device 210, and the connecting member 240 is separated from the accommodation space in the lower accommodating portion forming member 271 to be suspended. .. By suspending the connecting member 240 in this way, the pair of hook members 242 are urged and rotated by the urging member 244 of the connecting member 240, and a gap is formed between the tip portions 242E. It becomes a state.
　次に、図１４に示すように、荷物の取手３００を一対のフック部材２４２の先端部２４２Ｅの間から挿入し、鉤爪状部２４２Ａの上面に引掛ける。このように一対のフック部材２４２の先端部２４２Ｅに引掛けると、荷物の自重によりフック部材２４２が横方向に延びる回動軸２４３周りに回動して先端部２４２Ｅの間に隙間がない閉状態となり、取手が各フック部材２４２の先端部２４２Ｅと中間部２４２Ｄの間の境界部に引っかかった状態で安定する。なお、荷物が設置しており、フック部材２４２に作用する荷物の自重が軽く、フック部材２４２が回動しない場合には、巻上装置２１０によりワイヤ２５０を巻き上げればよい。 Next, as shown in FIG. 14, the luggage handle 300 is inserted from between the tip portions 242E of the pair of hook members 242 and hooked on the upper surface of the claw-shaped portion 242A. When hooked on the tip portion 242E of the pair of hook members 242 in this way, the hook member 242 rotates around the rotation shaft 243 extending laterally due to the weight of the load, and there is no gap between the tip portions 242E in a closed state. The handle is stabilized in a state of being caught on the boundary portion between the tip portion 242E and the intermediate portion 242D of each hook member 242. If the luggage is installed and the weight of the luggage acting on the hook member 242 is light and the hook member 242 does not rotate, the wire 250 may be wound by the hoisting device 210.
　このように、一対のフック部材２４２が閉状態となったら、巻上装置２１０によりワイヤ２５０を巻き上げる。巻上装置２１０によりワイヤ２５０を巻き上げると、連結部材２４０が上昇して下方収容部形成部材２７１内に入り込み、連結部材２４０の頭部２４０Ｃがラッチ装置２３０の突部材２３２の先端面に当接する。そして、さらに巻上装置２１０によりワイヤ２５０を巻き上げると、連結部材２４０の頭部２４０Ｃが先細り形状に形成され、また、突部材２３２の先端部に傾斜面が形成されているため、図１５に示すように、突部材２３２がばね部材２３３の付勢力に抗しながら、突部材２３２を収容孔２３１Ａ内に退行させる。そして、この状態で巻上装置２１０のよりワイヤ２５０を巻き上げ、連結部材２４０の凹部２４０Ｅの高さがラッチ装置２３０の突部材２３２の高さまで到達すると、図１６に示すように、突部材２３２がばね部材２３３により付勢されて進出し、凹部２４０Ｅ内に入り込む。これにより、連結部材２４０の凹部２４０Ｅ内にラッチ装置２３０の突部材２３２が入り込むことにより、連結部材２４０が無人航空機本体１００に固定される。 In this way, when the pair of hook members 242 are closed, the wire 250 is wound up by the hoisting device 210. When the wire 250 is wound up by the hoisting device 210, the connecting member 240 rises and enters the lower accommodating portion forming member 271, and the head 240C of the connecting member 240 comes into contact with the tip surface of the protrusion member 232 of the latch device 230. Further, when the wire 250 is further wound by the hoisting device 210, the head 240C of the connecting member 240 is formed in a tapered shape, and the inclined surface is formed at the tip of the protrusion member 232, which is shown in FIG. As described above, the protrusion member 232 regresses into the accommodating hole 231A while resisting the urging force of the spring member 233. Then, in this state, the wire 250 of the hoisting device 210 is wound up, and when the height of the recess 240E of the connecting member 240 reaches the height of the protrusion member 232 of the latch device 230, the protrusion member 232 becomes as shown in FIG. It is urged by the spring member 233 to advance and enter the recess 240E. As a result, the protruding member 232 of the latch device 230 enters the recess 240E of the connecting member 240, so that the connecting member 240 is fixed to the unmanned aerial vehicle main body 100.
　また、このように連結部材２４０が下方収容部形成部材２７１内に収容されると、一対のフック部材２４２の側方突部２４２Ｂが下方収容部形成部材２７１の下縁に当接する。これにより、連結部材２４０の一対のフック部材２４２が広がるように回動するのが規制され、一対のフック部材２４２が閉状態で拘束される。 Further, when the connecting member 240 is accommodated in the lower accommodating portion forming member 271 in this way, the lateral protrusion 242B of the pair of hook members 242 abuts on the lower edge of the lower accommodating portion forming member 271. As a result, the pair of hook members 242 of the connecting member 240 is restricted from rotating so as to spread, and the pair of hook members 242 are restrained in the closed state.
　このように複数の荷物を荷物連結装置２００により連結した状態で、無人航空機１０は、荷下ろし場所に飛行する。なお、無人航空機１０による飛行は、制御回路のメモリに記録された飛行制御プログラムにより制御され、配送経路データに応じた所定の飛行経路に沿って無人航空機本体１００が飛行するように制御回路が６つのロータ１０３の回転数を制御することにより実行される。そして、ＧＰＳなどの飛行位置センサ及びカメラによる映像により無人航空機本体１００の制御回路が、無人航空機１０が荷下ろし場所に到着したことを検知すると、制御回路が荷下ろし制御プログラムを実行することにより、荷物の荷下ろしを実行する。なお、荷下ろし作業は無人航空機本体１００が着陸した状態で行ってもよいし、ホバリングした状態で行ってもよい。 The unmanned aerial vehicle 10 flies to the unloading place with a plurality of luggage connected by the luggage connecting device 200 in this way. The flight by the unmanned aerial vehicle 10 is controlled by the flight control program recorded in the memory of the control circuit, and the control circuit 6 is such that the unmanned aerial vehicle main body 100 flies along a predetermined flight path according to the delivery route data. It is executed by controlling the rotation speed of one rotor 103. Then, when the control circuit of the unmanned aerial vehicle body 100 detects that the unmanned aerial vehicle 10 has arrived at the unloading place by the flight position sensor such as GPS and the image by the camera, the control circuit executes the unloading control program. Perform unloading of luggage. The unloading work may be performed with the unmanned aerial vehicle main body 100 landing or hovering.
　次に、無人航空機１０に荷物を荷下ろしする流れを説明する。なお、無人航空機１０に荷物を荷下ろしする工程は、無人航空機本体１００が着陸した状態で行うことが好ましいが、無人航空機本体１００がホバリングした状態で行うこともできる。荷物の荷下ろしは、制御回路が荷下ろし駆動制御プログラムを実行することにより実施される。 Next, the flow of unloading the unmanned aerial vehicle 10 will be explained. The step of unloading the unmanned aerial vehicle 10 is preferably performed with the unmanned aerial vehicle main body 100 landing, but it can also be performed with the unmanned aerial vehicle main body 100 hovering. The unloading of the load is carried out by the control circuit executing the unload drive control program.
　荷物の荷下ろしを行う際には、まず、図１７に示すように、一対のラッチ装置２３０のモータ２３５をそれぞれ駆動して突部材２３２を退行させる。これにより、突部材２３２が連結部材２４０の凹部２４０Ｅから離脱する。そして、巻上装置２１０のモータを駆動してワイヤ２５０を送り出す。これにより、図１８に示すように、連結部材２４０が収容空間２７３から下降を開始する。 When unloading the luggage, first, as shown in FIG. 17, the motors 235 of the pair of latch devices 230 are driven to regress the protrusion member 232. As a result, the protrusion member 232 is separated from the recess 240E of the connecting member 240. Then, the motor of the hoisting device 210 is driven to send out the wire 250. As a result, as shown in FIG. 18, the connecting member 240 starts descending from the accommodation space 273.
　さらに、巻上装置２１０によりワイヤ２５０を送り出すことにより、連結部材２４０が下降し、荷物が接地する。荷物が接地することにより、取手３００から一対のフック部材２４２に作用する荷重が小さくなる。そして、一対のフック部材２４２に作用する荷物の荷重が十分に小さくなると、付勢部材２４４による付勢力が、荷物の荷重により一対のフック部材２４２に作用する閉状態へと付勢する力よりも大きくなる。これにより、図１９に示すように、付勢部材２４４によりフック部材２４２の先端部２４２Ｅの間に隙間が形成された開状態になるように一対のフック部材２４２が回動する。これ荷物の取手３００が一対のフック部材２４２の間から離脱し、荷下ろしを行うことができる。 Further, by sending out the wire 250 by the hoisting device 210, the connecting member 240 is lowered and the load is grounded. When the load is in contact with the ground, the load acting on the pair of hook members 242 from the handle 300 is reduced. Then, when the load of the load acting on the pair of hook members 242 becomes sufficiently small, the urging force of the urging member 244 is larger than the force urging the pair of hook members 242 by the load of the load to the closed state. growing. As a result, as shown in FIG. 19, the pair of hook members 242 rotate so as to be in an open state in which a gap is formed between the tip portions 242E of the hook member 242 by the urging member 244. The handle 300 of the load can be separated from between the pair of hook members 242 to unload the load.
　このようにして、連結部材２４０から荷物が離脱すると、巻上装置２１０に作用する荷重が小さくなり、制御回路は荷物の離脱を検知することができる。このように荷物の離脱を検知すると、巻上装置２１０は、ワイヤ２５０を再び巻き上げる。このようにワイヤ２５０を巻き上げると、図２０に示すように、連結部材２４０が収容空間２７３内に収容され、一対のフック部材２４２の側方突部２４２Ｂが下方収容部形成部材２７１の下縁に当接する。この状態で巻上装置２１０によりワイヤ２５０を巻き上げて連結部材２４０を引き上げることにより、一対のフック部材２４２が回動し、閉状態となる。また、収容空間２７３内に連結部材２４０が収容される際には、頭部２４０Ｃがラッチ装置２３０の突部材２３２を収容孔２３１Ａ内に退行させる。そして、この状態で巻上装置２１０のよりワイヤ２５０を巻き上げ、連結部材２４０の凹部２４０Ｅの高さがラッチ装置２３０の突部材２３２の高さまで到達すると、突部材２３２がばね部材２３３により付勢されて進出し、凹部２４０Ｅ内に入り込む。これにより、連結部材２４０の凹部２４０Ｅ内にラッチ装置２３０の突部材２３２が入り込むことにより、連結部材２４０が無人航空機本体１００に固定される。 In this way, when the load is detached from the connecting member 240, the load acting on the hoisting device 210 becomes small, and the control circuit can detect the detachment of the load. When the detachment of the load is detected in this way, the hoisting device 210 winds up the wire 250 again. When the wire 250 is wound up in this way, as shown in FIG. 20, the connecting member 240 is accommodated in the accommodating space 273, and the side protrusions 242B of the pair of hook members 242 are on the lower edge of the lower accommodating portion forming member 271. Contact. In this state, the wire 250 is wound up by the hoisting device 210 and the connecting member 240 is pulled up, so that the pair of hook members 242 rotate and are closed. Further, when the connecting member 240 is accommodated in the accommodation space 273, the head 240C retracts the protrusion 232 of the latch device 230 into the accommodation hole 231A. Then, when the wire 250 of the hoisting device 210 is wound up in this state and the height of the recess 240E of the connecting member 240 reaches the height of the protrusion member 232 of the latch device 230, the protrusion member 232 is urged by the spring member 233. And advance into the recess 240E. As a result, the protrusion member 232 of the latch device 230 enters the recess 240E of the connecting member 240, so that the connecting member 240 is fixed to the unmanned aerial vehicle main body 100.
　このように連結部材２４０を収容空間内に収容した状態で、無人航空機１０は、集荷場所に飛行する。なお、無人航空機１０による飛行は、制御回路のメモリに記録された飛行制御プログラムにより制御され、配送経路データに応じた所定の飛行経路に沿って無人航空機本体１００が飛行するように制御回路が６つのロータ１０３の回転数を制御することにより実行される。 With the connecting member 240 accommodated in the accommodation space in this way, the unmanned aerial vehicle 10 flies to the collection place. The flight by the unmanned aerial vehicle 10 is controlled by the flight control program recorded in the memory of the control circuit, and the control circuit 6 is such that the unmanned aerial vehicle main body 100 flies along a predetermined flight path according to the delivery route data. It is executed by controlling the rotation speed of one rotor 103.
　本実施形態によれば、連結部材２４０が、横方向に延びる回動軸２４３周りに回動可能な鉤爪状の一対のフック部材２４２を含み、一対のフック部材２４２は、一対のフック部材２４２の先端の間に隙間が形成された開状態と、一対のフック部材２４２の先端の間が閉じた閉状態との間で回動可能であり、一対のフック部材２４２は、荷物を一対のフック部材２４２に引っ掛けた際に、荷物の荷重により閉状態となるように付勢されるように構成されている。これにより、連結部材２４０に荷物を吊り下げた際に、一対のフック部材２４２の先端の間が閉鎖されるため、荷物の落下を防止できる。また、例えば、ばねなどに付勢して一対のフック部材２４２を閉状態とする構成では、荷物の自重が大きい場合などには荷物が落下するおそれがあるとともに、荷物の荷下ろしに手間がかかる。これに対して、本実施形態では、荷物の荷重により一対のフック部材２４２が閉状態となるように付勢されるため、荷物の荷重によらず落下を防止できる。さらに、荷下ろし時には、荷物を接地させることにより容易に閉状態を解除することができる。
　また、無人航空機の水平方向の加速時には、荷物に横方向に加速度が作用する。このため、連結部材がフック部材を一つしか備えない場合には、フック部材の先端部に隙間が生じるおそれがある。これに対して、本実施形態では、一対のフック部材２４２を設けているため、無人航空機の加速時に、一対のフック部材２４２が同方向に付勢されるため、フック部材２４２の先端部の間に隙間が生じることがなく、荷物の落下を確実に防止できる。 According to the present embodiment, the connecting member 240 includes a pair of hook-shaped hook members 242 that are rotatable around a rotation shaft 243 extending laterally, and the pair of hook members 242 is a pair of hook members 242. The pair of hook members 242 can rotate between an open state in which a gap is formed between the tips and a closed state in which the tips of the pair of hook members 242 are closed. When hooked on the 242, it is configured to be urged to be closed by the load of the luggage. As a result, when the load is suspended from the connecting member 240, the space between the tips of the pair of hook members 242 is closed, so that the load can be prevented from falling. Further, for example, in a configuration in which the pair of hook members 242 are closed by urging a spring or the like, the cargo may fall when the weight of the cargo is heavy, and it takes time and effort to unload the cargo. .. On the other hand, in the present embodiment, since the pair of hook members 242 are urged to be closed by the load of the load, the fall can be prevented regardless of the load of the load. Further, at the time of unloading, the closed state can be easily released by grounding the load.
Further, when the unmanned aerial vehicle accelerates in the horizontal direction, the acceleration acts on the luggage in the horizontal direction. Therefore, when the connecting member includes only one hook member, a gap may occur at the tip of the hook member. On the other hand, in the present embodiment, since the pair of hook members 242 are provided, the pair of hook members 242 are urged in the same direction when the unmanned aerial vehicle is accelerated, so that between the tips of the hook members 242. There is no gap in the space, and it is possible to reliably prevent the luggage from falling.
　また、本実施形態では、連結部材２４０は、一対のフック部材２４２が開状態となるように付勢する付勢部材２４４を含み、一対のフック部材２４２に作用する荷物の荷重が減少し、荷物の荷重により一対のフック部材２４２に作用する閉状態へと付勢する力よりも付勢部材２４４の付勢力が大きくなると、一対のフック部材２４２が開状態へと回動する。これにより、荷物が設置して一対のフック部材２４２に作用する荷重が小さくなると、一対のフック部材２４２の先端部の間が開き、手動によらずに荷物を荷下ろしすることができる。 Further, in the present embodiment, the connecting member 240 includes a urging member 244 that urges the pair of hook members 242 to be in an open state, and the load of the load acting on the pair of hook members 242 is reduced, so that the load is loaded. When the urging force of the urging member 244 becomes larger than the urging force acting on the pair of hook members 242 due to the load of the above, the pair of hook members 242 rotate to the open state. As a result, when the load is installed and the load acting on the pair of hook members 242 becomes small, the space between the tips of the pair of hook members 242 opens, and the load can be unloaded without manual operation.
　また、本実施形態では、フック部材２４２の先端部２４２Ｅの上面は、先端に向かって回動軸２４３からの距離が減少するように形成されている。これにより、荷物の取手３００を先端部２４２Ｅに引っ掛けたとしても、落下せずに先端部２４２Ｅから基端部に向かって移動した位置に取手３００が保持される。 Further, in the present embodiment, the upper surface of the tip portion 242E of the hook member 242 is formed so that the distance from the rotation shaft 243 decreases toward the tip. As a result, even if the handle 300 of the luggage is hooked on the tip portion 242E, the handle 300 is held at a position where the handle 300 is moved from the tip portion 242E toward the base end portion without falling.
　また、本実施形態では、連結部材２４０はワイヤ２５０が接続され、一対のフック部材２４２が回動可能に取り付けられた連結部材本体２４１を含み、荷物連結装置２００は、無人航空機本体１００に取り付けられ、ワイヤ２５０を巻き上げ及び巻き出し可能な巻上装置２１０と、無人航空機本体１００に取り付けられ、連結部材本体２４１を収容可能な収容部形成部材２７０、２７１と、をさらに備える。これにより、無人航空機１０の飛行時には、連結部材本体２４１を収容部形成部材２７０、２７１内に収容した状態で飛行することができ、連結部材２４０が飛行時の風などの影響を受け、無人航空機１０の飛行に影響を及ぼすことを防止できる。 Further, in the present embodiment, the connecting member 240 includes a connecting member main body 241 to which a wire 250 is connected and a pair of hook members 242 are rotatably attached, and the luggage connecting device 200 is attached to the unmanned aerial vehicle main body 100. , A hoisting device 210 capable of winding and unwinding the wire 250, and accommodating portion forming members 270 and 271 attached to the unmanned aerial vehicle main body 100 and capable of accommodating the connecting member main body 241. As a result, when the unmanned aerial vehicle 10 is flying, the connecting member main body 241 can be accommodated in the accommodating portion forming members 270 and 271, and the connecting member 240 is affected by the wind during flight and the like, and the unmanned aerial vehicle is affected. It is possible to prevent it from affecting the flight of 10.
　また、本実施形態では、連結部材本体２４１は、側面に凹部２４０Ｅが形成されており、荷物連結装置２００は、収容部形成部材２７０、２７１内に連結部材本体２４１を収容した状態で、凹部２４０Ｅに挿入可能な突部材２３２を含む。これにより、突部材２３２により、連結部材本体２４１を収容部形成部材２７０、２７１内に収容した状態で固定することができ、連結部材２４０の落下を防止できる。 Further, in the present embodiment, the connecting member main body 241 has a concave portion 240E formed on the side surface thereof, and the luggage connecting device 200 has the concave portion 240E in a state where the connecting member main body 241 is accommodated in the accommodating portion forming members 270 and 271. Includes a protrusion 232 that can be inserted into. Thereby, the connecting member main body 241 can be fixed in the state of being housed in the housing portion forming members 270 and 271 by the protrusion member 232, and the connecting member 240 can be prevented from falling.
　また、本実施形態では、突部材２３２は下方収容部形成部材２７１内に進出するように付勢されており、連結部材本体２４１は上部が上方に向かって先細り形状に形成されている。これにより、巻上装置２１０により連結部材２４０を巻き上げることにより、突部材２３２が退行し、連結部材２４０が下方収容部形成部材２７１内に収容されると、突部材２３２が凹部２４０Ｅ内に挿入される。したがって、巻上装置２１０により連結部材２４０を巻き上げることにより、自動的に連結部材２４０を固定することができる。 Further, in the present embodiment, the protrusion member 232 is urged to advance into the lower accommodating portion forming member 271, and the upper portion of the connecting member main body 241 is formed in a tapered shape upward. As a result, when the connecting member 240 is wound up by the hoisting device 210, the protruding member 232 regresses and the connecting member 240 is housed in the lower accommodating portion forming member 271, the projecting member 232 is inserted into the recess 240E. To. Therefore, the connecting member 240 can be automatically fixed by winding the connecting member 240 with the hoisting device 210.
　また、本実施形態では、下方収容部形成部材２７１は、収容部形成部材２７０、２７１内に連結部材本体２４１が収容された状態で、一対のフック部材２４２を閉状態で拘束するように構成されている。これにより、連結部材本体２４１を収容部形成部材２７０、２７１内に収容した状態で、一対のフック部材２４２が開状態になることを防止し、荷物が落下することを確実に防止できる。 Further, in the present embodiment, the lower accommodating portion forming member 271 is configured to restrain the pair of hook members 242 in a closed state while the connecting member main body 241 is accommodated in the accommodating portion forming members 270 and 271. ing. As a result, it is possible to prevent the pair of hook members 242 from being opened in a state where the connecting member main body 241 is housed in the housing portion forming members 270 and 271, and it is possible to reliably prevent the load from falling.
　また、本実施形態では、一対のフック部材２４２は、それぞれの外側側部に側方突部２４２Ｂを有し、下方収容部形成部材２７１は、連結部材本体２４１を収容した際に連結部材本体２４１の周囲に位置する円筒部２７１Ａを有し、下方収容部形成部材２７１に連結部材本体２４１が収容された状態で、一対のフック部材２４２の側方突部２４２Ｂが円筒部２７１Ａに当接することにより、一対のフック部材２４２は閉状態で拘束される。これにより、簡単な構成で新たな構成を設けることなく、連結部材２４０を巻き上げて下方収容部形成部材２７１内に収容することにより、一対のフック部材２４２を閉状態に拘束することが可能となる。 Further, in the present embodiment, the pair of hook members 242 have side protrusions 242B on their outer side portions, and the lower accommodating portion forming member 271 accommodates the connecting member main body 241 when the connecting member main body 241 is accommodated. The side protrusions 242B of the pair of hook members 242 abut against the cylindrical portion 271A in a state where the connecting member main body 241 is accommodated in the lower accommodating portion forming member 271 having the cylindrical portion 271A located around the above. , The pair of hook members 242 are restrained in the closed state. As a result, the pair of hook members 242 can be restrained in the closed state by winding up the connecting member 240 and accommodating it in the lower accommodating portion forming member 271 without providing a new configuration with a simple configuration. ..
１０　　　：無人航空機
１００　　：無人航空機本体
１０１　　：本体部
１０２　　：モータ
１０３　　：ロータ
１０４Ａ　：前方アーム
１０４Ｂ　：中央アーム
１０４Ｃ　：後方アーム
１０５　　：着陸脚
１０５Ａ　：主脚部
１０５Ｂ　：接地部
１０６　　：取付架台
１０６Ａ　：基板
１０６Ｂ　：柱部
１０６Ｃ　：開口
２００　　：荷物連結装置
２１０　　：巻上装置
２１１　　：リール
２１２　　：モータ
２２０　　：懸下装置
２２１　　：プーリ
２３０　　：ラッチ装置
２３１　　：機構本体
２３１Ａ　：収容孔
２３１Ｂ　：スリット
２３２　　：突部材
２３２Ａ　：拡幅部
２３２Ｂ　：貫通穴
２３３　　：ばね部材
２３４　　：歯車
２３５　　：モータ
２４０　　：連結部材
２４０Ａ　：中間板部
２４０Ｂ　：円柱部
２４０Ｃ　：頭部
２４０Ｄ　：下部板部
２４０Ｅ　：凹部
２４０Ｆ　：切り欠き部
２４１　　：連結部材本体
２４２　　：フック部材
２４２Ａ　：鉤爪状部
２４２Ｂ　：側方突部
２４２Ｃ　：基端部
２４２Ｄ　：中間部
２４２Ｅ　：先端部
２４２Ｇ　：中心突部
２４３　　：回動軸
２４４　　：付勢部材
２５０　　：ワイヤ
２６０　　：連結部材収容装置
２７０　　：上方収容部形成部材
２７０Ａ　：円筒部
２７０Ｂ　：フランジ部
２７０Ｃ　：開口部
２７１　　：下方収容部形成部材
２７１Ａ　：円筒部
２７１Ｂ　：フランジ部
２７３　　：収容空間
３００　　：取手 10: Unmanned aircraft 100: Unmanned aircraft main body 101: Main body 102: Motor 103: Rotor 104A: Front arm 104B: Central arm 104C: Rear arm 105: Landing gear 105A: Main landing gear 105B: Grounding gear 106: Mounting base 106A: Board 106B: Column 106C: Opening 200: Luggage connecting device 210: Hoisting device 211: Reel 212: Motor 220: Suspension device 221: Pulley 230: Latch device 231: Mechanism body 231A: Accommodation hole 231B: Slit 232: Projection Member 232A: Widening portion 232B: Through hole 233: Spring member 234: Gear 235: Motor 240: Connecting member 240A: Intermediate plate portion 240B: Cylindrical portion 240C: Head 240D: Lower plate portion 240E: Recessed portion 240F: Notch portion 241 : Connecting member body 242: Hook member 242A: Hook-shaped portion 242B: Side protrusion 242C: Base end portion 242D: Intermediate portion 242E: Tip portion 242G: Central protrusion 243: Rotating shaft 244: Biasing member 250: Wire 260: Connecting member accommodating device 270: Upper accommodating portion forming member 270A: Cylindrical portion 270B: Flange portion 270C: Opening 271: Lower accommodating portion forming member 271A: Cylindrical portion 271B: Flange portion 273: Accommodating space 300: Handle

Claims (10)

  1. 　無人航空機本体から懸下される懸下部材と、
    　前記懸下部材の下方に取り付けられ、荷物に連結可能な連結部材と、を備えた無人航空機に荷物を連結するための荷物連結装置であって、
    　前記連結部材は、横方向に延びる回動軸周りに回動可能な鉤爪状の一対のフック部材を含み、
    　前記一対のフック部材は、当該一対のフック部材の先端の間に隙間が形成された開状態と、前記一対のフック部材の先端の間が閉じた閉状態との間で回動可能であり、
    　前記一対のフック部材は、前記荷物を当該一対のフック部材に引っ掛けた際に、前記荷物の荷重により前記閉状態となるように付勢されるように構成されている、
    　ことを特徴とする、荷物連結装置。     Suspended members suspended from the unmanned aerial vehicle body,
    A luggage connecting device for connecting a luggage to an unmanned aerial vehicle equipped with a connecting member attached below the suspension member and capable of connecting to the luggage.
    The connecting member includes a pair of claw-shaped hook members that can rotate around a laterally extending rotation axis.
    The pair of hook members can rotate between an open state in which a gap is formed between the tips of the pair of hook members and a closed state in which the tips of the pair of hook members are closed.
    The pair of hook members are configured to be urged to be in the closed state by the load of the luggage when the luggage is hooked on the pair of hook members.
    A cargo connecting device characterized by this.
  2. 　前記連結部材は、前記一対のフック部材が前記開状態となるように付勢する付勢部材をさらに含み、
    　前記一対のフック部材に作用する前記荷物の荷重が減少し、前記荷物の荷重により前記一対のフック部材に作用する閉状態へと付勢する力よりも前記付勢部材の付勢力が大きくなると、前記一対のフック部材が開状態へと回動する、
    　請求項１に記載の荷物連結装置。     The connecting member further includes an urging member that urges the pair of hook members to be in the open state.
    When the load of the load acting on the pair of hook members decreases and the urging force of the urging member becomes larger than the force acting on the pair of hook members to the closed state due to the load of the load. The pair of hook members rotate to the open state,
    The luggage connecting device according to claim 1.
  3. 　前記フック部材の先端部の上面は、先端に向かって前記回動軸からの距離が減少するように形成されている、
    　請求項１又は２に記載の荷物連結装置。     The upper surface of the tip portion of the hook member is formed so that the distance from the rotation axis decreases toward the tip.
    The luggage connecting device according to claim 1 or 2.
  4. 　前記連結部材は前記懸下部材が接続され、前記一対のフック部材が回動可能に取り付けられた連結部材本体を含み、
    　前記荷物連結装置は、
    　前記無人航空機本体に取り付けられ、前記懸下部材を巻き上げ及び巻き出し可能な巻上装置と、
    　前記無人航空機本体に取り付けられ、前記連結部材本体を収容可能な収容部形成部材と、をさらに備える、
    　請求項１～３の何れか１項に記載の荷物連結装置。     The connecting member includes a connecting member body to which the hanging member is connected and the pair of hook members are rotatably attached.
    The luggage connecting device is
    A hoisting device attached to the unmanned aerial vehicle body and capable of hoisting and unwinding the suspension member,
    A housing portion forming member attached to the unmanned aerial vehicle main body and capable of accommodating the connecting member main body is further provided.
    The luggage connecting device according to any one of claims 1 to 3.
  5. 　前記連結部材本体は、側面に凹部が形成されており、
    　前記荷物連結装置は、前記収容部形成部材内に前記連結部材本体を収容した状態で、前記凹部に挿入可能なラッチ部材を含む、
    　請求項４に記載の荷物連結装置。     The connecting member main body has a recess formed on the side surface thereof.
    The luggage connecting device includes a latch member that can be inserted into the recess while the connecting member main body is housed in the housing portion forming member.
    The luggage connecting device according to claim 4.
  6. 　前記ラッチ部材は、前記収容部形成部材内に進出するように付勢されており、
    　前記連結部材本体は上部が上方に向かって先細り形状に形成されている、
    　請求項５に記載の荷物連結装置。     The latch member is urged to advance into the accommodating portion forming member.
    The upper part of the connecting member main body is formed in a tapered shape toward the upper side.
    The luggage connecting device according to claim 5.
  7. 　前記収容部形成部材は、前記収容部形成部材内に前記連結部材本体が収容された状態で、前記一対のフック部材を前記閉状態で拘束するように構成されている、
    　請求項４～６の何れか１項に記載の荷物連結装置。     The accommodating portion forming member is configured to restrain the pair of hook members in the closed state while the connecting member main body is accommodated in the accommodating portion forming member.
    The luggage connecting device according to any one of claims 4 to 6.
  8. 　無人航空機本体から懸下される懸下部材と、
    　前記懸下部材の下方に取り付けられ、荷物に連結可能な連結部材と、
    　前記無人航空機本体に取り付けられ、前記懸下部材を巻き上げ及び巻き出し可能な巻上装置と、
    　を備えた無人航空機に荷物を連結するための荷物連結装置であって、
    　前記連結部材は、
    　　前記懸下部材が接続された連結部材本体と、
    　　前記連結部材本体に、横方向に延びる回動軸周りに回動可能に取り付けられた鉤爪状の一対のフック部材と、を含み、
    　前記一対のフック部材は、当該一対のフック部材の先端の間に隙間が形成された開状態と、前記一対のフック部材の先端の間が閉じた閉状態との間で回動可能であり、
    　前記荷物連結装置は、前記無人航空機本体に取り付けられ、前記連結部材本体を収容可能な収容部形成部材をさらに備え、前記収容部形成部材は、当該収容部形成部材内に前記連結部材本体が収容された状態で、前記一対のフック部材を前記閉状態で拘束するように構成されている、
    　ことを特徴とする、荷物連結装置。     Suspended members suspended from the unmanned aerial vehicle body,
    A connecting member attached below the hanging member and connectable to the luggage,
    A hoisting device attached to the unmanned aerial vehicle body and capable of hoisting and unwinding the suspension member,
    It is a luggage connecting device for connecting luggage to an unmanned aerial vehicle equipped with
    The connecting member is
    The connecting member main body to which the hanging member is connected and
    The connecting member main body includes a pair of claw-shaped hook members rotatably attached around a rotation axis extending in the lateral direction.
    The pair of hook members can rotate between an open state in which a gap is formed between the tips of the pair of hook members and a closed state in which the tips of the pair of hook members are closed.
    The luggage connecting device is attached to the unmanned aerial vehicle main body and further includes an accommodating portion forming member capable of accommodating the connecting member main body, and the accommodating portion forming member is accommodated in the accommodating portion forming member. The pair of hook members are configured to be restrained in the closed state in the closed state.
    A cargo connecting device characterized by this.
  9. 　前記一対のフック部材は、それぞれの外側側部に突部を有し、
    　前記収容部形成部材は、前記連結部材本体を収容した際に前記連結部材本体の周囲に位置する筒体を有し、
    　前記収容部形成部材に前記連結部材本体が収容された状態で、前記一対のフック部材の前記突部が前記筒体に当接することにより、前記一対のフック部材は前記閉状態で拘束される、
    　請求項７又は８に記載の荷物連結装置。     The pair of hook members have protrusions on their outer side portions, respectively.
    The accommodating portion forming member has a tubular body located around the connecting member main body when the connecting member main body is accommodated.
    The pair of hook members are restrained in the closed state by abutting the protrusions of the pair of hook members with the cylinder while the main body of the connecting member is housed in the housing portion forming member.
    The luggage connecting device according to claim 7 or 8.
  10. 　無人航空機本体と、
    　前記無人航空機本体に取り付けられた請求項１～８の何れか１項に記載の荷物連結装置と、を備える、
    　無人航空機。     Unmanned aerial vehicle body and
    The luggage connecting device according to any one of claims 1 to 8 attached to the unmanned aerial vehicle main body.
    Unmanned aerial vehicle.
PCT/JP2020/033127 2020-09-01 2020-09-01 Cargo connection device and unmanned aerial vehicle WO2022049640A1 (en)

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JP2020571898A JP6972447B1 (en) 2020-09-01 2020-09-01 Luggage coupling device and unmanned aerial vehicle

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS49118156A (en) * 1973-03-16 1974-11-12
JP3222160U (en) * 2019-04-30 2019-07-11 Ｄ−Ｐｌａｎ株式会社 Unloading hook
JP2020104771A (en) * 2018-12-28 2020-07-09 グローブライド株式会社 Unmanned flight body

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS49118156A (en) * 1973-03-16 1974-11-12
JP2020104771A (en) * 2018-12-28 2020-07-09 グローブライド株式会社 Unmanned flight body
JP3222160U (en) * 2019-04-30 2019-07-11 Ｄ−Ｐｌａｎ株式会社 Unloading hook

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