WO2024142267A1 - Objet volant - Google Patents

Objet volant Download PDF

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Publication number
WO2024142267A1
WO2024142267A1 PCT/JP2022/048235 JP2022048235W WO2024142267A1 WO 2024142267 A1 WO2024142267 A1 WO 2024142267A1 JP 2022048235 W JP2022048235 W JP 2022048235W WO 2024142267 A1 WO2024142267 A1 WO 2024142267A1
Authority
WO
WIPO (PCT)
Prior art keywords
relay
aircraft
motor
section
load
Prior art date
Application number
PCT/JP2022/048235
Other languages
English (en)
Japanese (ja)
Inventor
藤原徹也
Original Assignee
株式会社クボタ
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 株式会社クボタ filed Critical 株式会社クボタ
Priority to PCT/JP2022/048235 priority Critical patent/WO2024142267A1/fr
Publication of WO2024142267A1 publication Critical patent/WO2024142267A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • 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
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/67—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs comprising tethers for lowering the goods

Definitions

  • an aircraft is an aircraft that flies with a load suspended therefrom, and is equipped with a lift generating unit that generates lift used for flight, a support member that supports the load, a hoisting unit that pays out or winds up the support member to adjust its length, and a relay mechanism made up of multiple relay units that relay and support the support member between the load and the hoisting unit.
  • the support member is, for example, multiple wires 5, and may be a rod-shaped member that is stretchable and/or can swing around a pivot point.
  • a drone in which the rotors 3 are used as lift generating units and the wires 5 are used as support members will be described as an example.
  • the attitude of the load 8 can be stabilized, the stability of the airframe can be improved, and the flying object can be controlled with high precision.
  • the relay section 17 is a pulley that supports the wire 5, the length of which is changed, in a state in which friction is reduced.
  • the motor 18 is operated by the power generated by the generator 12 or the power stored in the battery 13.
  • At least one of the motors 18 is provided in the central region of the aircraft, and preferably all of the motors 18 are provided in the central region of the aircraft on the underside of the main body 2.
  • the central region is a region that includes the central position or center of gravity G of the aircraft in a planar view and is close to the central position or center of gravity G.
  • multiple motors 18 are arranged close to each other, and the motors 18 are arranged so that the center of gravity of the aggregate of multiple motors 18 overlaps with or is close to the central position or center of gravity G of the aircraft in a planar view.
  • the central position is the midpoint of the length in the width direction of the drone's body, for example, the midpoint of the length in the width direction of the main body 2.
  • the relay unit 17 is disposed in the outer region (outer region) of the body.
  • the outer region is the region that is outer than the center position or center of gravity position G of the body or main body 2 in a planar view, and is the region that is outer than the central region.
  • the relay unit 17 is disposed outer than the motors 18 in a planar view. Note that all relay units 17 may be disposed outer than all motors 18, and as long as they are disposed outer than motors 18 that support the same wire 5, they do not necessarily have to be disposed outer than other motors 18.
  • the motor 18 is provided in the central region of the main body 2, and the relay unit 17 is provided on the arm 4. Furthermore, it is preferable that the relay unit 17 is provided in an end region of the arm 4 that is away from the main body 2.
  • the payload 8 can be suspended from the periphery (outer region) of the aircraft to below the central region of the aircraft with the wires 5, without providing the motor 18 in the outer region of the aircraft.
  • the payload 8 By suspending the payload 8 from the periphery of the aircraft, multiple lateral outward forces Fh are applied to the payload 8. These forces Fh pull the payload 8 in the periphery direction, suppressing attitude disturbance and rotation due to external disturbances, etc., and allowing the payload 8 to be suspended stably.
  • the flying object can be controlled with precision.
  • the drone includes a motor unit 20.
  • the motor unit 20 is a hollow body surrounded by walls, and the underside of the main body 2 may be used as a part of the surface.
  • the motor unit 20 includes a waterproof portion (not shown) in a hole through which the wire 5 extending from the motor 18 to the relay portion 17 passes, an area where the wall and the main body 2 contact, an area where adjacent walls contact, and the like.
  • the motor unit 20 also includes an outside air inlet (not shown) for dissipating heat generated by the motor 18, and includes a dustproof portion (not shown) in the outside air inlet. With this configuration, the motor unit 20 is prevented from invading moisture, dust, and the like from the outside.
  • the motor unit 20 also houses at least two of the multiple motors 18 inside.
  • the motor unit 20 houses all of the motors 18 inside. Note that at least some of the motors 18 may be housed in one motor unit 20, or the motors 18 may be distributed and housed in multiple motor units 20.
  • the motor units 20 are provided in the central region of the aircraft in a plan view on the underside of the main body 2. Preferably, the motor units 20 are arranged so that the position of the center of gravity is a position that overlaps with the center position or center of gravity G of the aircraft in a plan view, or is in the vicinity thereof.
  • the motor units 20 are arranged so that the position of the center of gravity of the aggregate is a position that overlaps with the center position or center of gravity G of the aircraft in a plan view, or is in the vicinity thereof. This improves the stability of the aircraft.
  • Each motor 18 is an electric component and therefore needs to be waterproof and dustproof.
  • the attachment mechanism 15 may include a relay mechanism 22 instead of the relay unit 17.
  • the relay mechanism 22 is composed of a plurality of relay units 17 that relay and support the wire 5 between the load 8 and the motor 18. It is preferable that a relay mechanism 22 is provided for each wire 5.
  • the position of the motor 18, the positional relationship between the motor 18 and the relay mechanism 22, and the configuration of the relay mechanism 22 can be freely adjusted to improve the weight balance of the aircraft.
  • the payload 8 can be stably suspended, the stability of the aircraft can be improved, and the aircraft can be controlled with precision.
  • the position at which the payload 8 is suspended on the aircraft can be freely configured.
  • the payload 8 can be suspended at an appropriate position using a single wire 5.
  • the payload 8 can be suspended in a balanced manner by attaching each wire 5 to an appropriate position. This also improves the stability of the aircraft and allows the aircraft to be controlled with precision.
  • At least a portion of the relay section 17 can be a pulley.
  • the pulley can include a fixed pulley and a movable pulley. By using a pulley, friction when supporting the wire 5 can be reduced.
  • the relay mechanism 22 includes a first relay part 24 and a second relay part 25.
  • the wire 5 is connected from the motor 18 to the payload 8 via the first relay part 24 and the second relay part 25 in that order.
  • One of the first relay part 24 and the second relay part 25 is disposed in the central region of the aircraft, and the other is disposed in the outer region of the aircraft.
  • the first relay section 24 is configured by combining a movable pulley 24A and a fixed pulley 24B, and the second relay section 25 is a fixed pulley.
  • the fixed pulley 24B and the movable pulley 24A support the wire 5.
  • the fixed pulley 24B is fixed to the machine body, for example, to the main body 2.
  • the movable pulley 24A is supported by the machine body in a manner that allows it to move in response to the unwinding or winding of the wire 5.
  • the movable pulley 24A can move along a rail provided on the main body 2.
  • the force required for the motor 18 to wind up the wire 5 (hoist the load 8) can be reduced, and the motor 18 can be made smaller.
  • the weight reduction achieved by making the motor 18 smaller will be greater than the weight increase achieved by providing the first relay section 24, and the total weight of the aircraft can be reduced.
  • This allows the flight range to be increased and the aircraft to be controlled with precision.
  • the payload of the aircraft can be improved, making it possible to support a heavier load 8.
  • the second relay section 25 is preferably positioned outside the first relay section 24.
  • the first relay section 24 is preferably positioned in the central region of the aircraft, and the second relay section 25 is preferably positioned in the outer region of the aircraft.
  • the second relay section 25 can be positioned in a position overlapping with the sub-rotor 3B in a planar view, and specifically, it is preferable that the center of the second relay section 25 overlaps with the center of the sub-rotor 3B in a planar view.
  • the motor 18 is preferably positioned inside the second relay section 25 (towards the center position or center of gravity G of the aircraft), preferably in the central region, and more preferably inside the first relay section 24.
  • the load 8 is not limited to being suspended by multiple wires 5, but may be suspended by a single wire 5.
  • the second relay part 25 is provided in the central region of the vehicle, and the load 8 is suspended below the central region of the vehicle. Even in this case, by providing the first relay part 24, the motor 18 can be made smaller, and the vehicle can be made lighter.
  • the relay unit 17 is not limited to being arranged outside the motor 18, and the relay unit 17 may be arranged in the central region and the motor 18 may be arranged outside the relay unit 17.
  • one of the motor 18 (mounting unit 16) and the relay unit 17 is arranged on the outside of the aircraft in a planar view compared to the other.
  • one of the motor 18 (mounting unit 16) and the relay unit 17 is arranged in the central region and the other is arranged in the outer region.
  • the motor 18 is heavier than the relay unit 17, then by arranging the relay unit 17 outside the motor 18, the stability of the aircraft is improved and the aircraft can be controlled with precision.
  • the relay unit 17 is heavier than the motor 18 (mounting unit 16)
  • the motor 18 (mounting unit 16) may be arranged outside the relay unit 17. This improves the stability of the aircraft and allows for precise control of the aircraft.
  • the lighter one may be arranged outside the heavier one in a plan view. This allows the outer area of the aircraft to be lighter, which results in improved stability of the aircraft and allows for precise control of the aircraft.
  • the attachment mechanism 15 may be an attachment part 16 that fixes and supports the wire 5, instead of the motor 18 that is the winding part.
  • the wire 5 is not limited to being supported by the drone via the attachment mechanism 15, and may be supported directly by the drone by the attachment portion 16 instead of the motor 18 or relay portion 17, as shown in FIG. 5.
  • the attachment portion 16 is positioned outside the center position or center of gravity G of the main body portion 2, that is, at a position away from the center position or center of gravity G of the main body portion 2.
  • the attachment portion 16 may be located in a region of the main body 2 that is outside the midpoint between the center position or center of gravity G of the main body 2 and the outer edge of the main body 2 in a plan view, and more preferably, may be located at the outer end of the main body 2, which is the boundary with the arm portion 4, or in the vicinity thereof.
  • the attachment parts 16 can be distributed around the outer area of the aircraft, it is easy to maintain the weight balance of the aircraft in an appropriate state. Furthermore, the hanging load of the load 8 is distributed, making it easy to maintain the aircraft structure in an appropriate state in order to ensure the strength required to hold the attachment parts 16 and the load 8. As a result, it is easy to stabilize and reduce the weight of the aircraft, and the flying object can be controlled with precision.
  • the mounting portion 16 can be configured to only fix and support the wire 5, it is relatively easy to reduce the weight, and the increase in weight in the outer area of the aircraft can be suppressed. As a result, the stability of the aircraft can be improved, and the flying object can be controlled with precision.
  • the attachment portion 16 may be a hoisting portion that adjusts the length of the wire 5 of the motor 18, etc. With this configuration, the length of the wire 5 can be adjusted to easily stabilize the posture of the load 8.
  • the configuration is not limited to using multiple wires 5, and the load 8 can be suspended from two points by a single circular wire 5, as shown in FIG. 6.
  • the drone in this embodiment has a motor 18 provided in the central region of the aircraft, and two relay units 17 provided in the outer regions of the aircraft.
  • the motor 18 is arranged in a position that overlaps with the center position or center of gravity G of the aircraft in a planar view at the bottom of the main body unit 2.
  • the two relay units 17 are arranged at both end regions of the aircraft, for example, the end regions of the arm unit 4, so as to face each other across the center position or center of gravity G of the aircraft in a planar view.
  • one motor 18 sends out the wire 5 in one of two directions, it is only necessary to provide one motor 18 for every two points that support the payload 8. This allows the number of motors 18 to be reduced, and the weight of the aircraft to be reduced. Furthermore, since the number of motors 18 can be reduced, the frame that supports the motors 18 can be made lighter, and the weight of the aircraft can also be reduced in this respect. As a result, the aircraft can be controlled with precision. Furthermore, by arranging the motors 18 in the central region of the aircraft, the weight balance of the aircraft can be optimized, and the aircraft can be controlled with precision.
  • any of the relay portion 17, the second relay portion 25, and the mounting portion 16 is arranged at a position overlapping with the sub-rotor 3B, but any of the relay portion 17, the second relay portion 25, and the mounting portion 16 may be arranged at a position overlapping with the main rotor 3A.
  • any of the relay portion 17, the second relay portion 25, and the mounting portion 16 may be arranged at a position overlapping with either the main rotor 3A or the sub-rotor 3B depending on the function, arrangement, number, etc. of the main rotor 3A and the sub-rotor 3B.
  • the arm portion 4 may not be provided, and the rotor 3, the mounting portion 16, and the relay portion 17 may be supported by the main body portion 2.
  • the mounting portion 16 and the relay portion 17 may be positioned outside the center position or the center of gravity position G of the main body portion 2.
  • the mounting portion 16 and the relay portion 17 may be supported by the rotor 3.
  • the present invention can be applied to aircraft that fly with any payload suspended by a wire.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)

Abstract

Un objet volant qui vole tout en suspendant une charge (8) comprend : des parties de génération de force de portance (3) qui génèrent une force de portance utilisée pour voler ; des éléments de support (5) qui supportent la charge (8) ; des parties d'enroulement (18) qui distribuent ou enroulent les éléments de support (5) pour ajuster la longueur des éléments de support (5) ; et un mécanisme de relais (22) qui est composé d'une pluralité de parties relais qui relaient et supportent les éléments de support (5) entre la charge (8) et les parties d'enroulement (18).
PCT/JP2022/048235 2022-12-27 2022-12-27 Objet volant WO2024142267A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/048235 WO2024142267A1 (fr) 2022-12-27 2022-12-27 Objet volant

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/048235 WO2024142267A1 (fr) 2022-12-27 2022-12-27 Objet volant

Publications (1)

Publication Number Publication Date
WO2024142267A1 true WO2024142267A1 (fr) 2024-07-04

Family

ID=91716701

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/048235 WO2024142267A1 (fr) 2022-12-27 2022-12-27 Objet volant

Country Status (1)

Country Link
WO (1) WO2024142267A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111204453A (zh) * 2020-03-26 2020-05-29 长春师范大学 大载重无人机救援装置
JP2020083209A (ja) * 2018-11-29 2020-06-04 グローブライド株式会社 無人飛行体
CN112478164A (zh) * 2020-12-04 2021-03-12 台州宏达电力建设有限公司 一种无人机投放电力塔杆件的投放方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020083209A (ja) * 2018-11-29 2020-06-04 グローブライド株式会社 無人飛行体
CN111204453A (zh) * 2020-03-26 2020-05-29 长春师范大学 大载重无人机救援装置
CN112478164A (zh) * 2020-12-04 2021-03-12 台州宏达电力建设有限公司 一种无人机投放电力塔杆件的投放方法

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