JP4690766B2 - Unmanned aerial vehicle - Google Patents

Unmanned aerial vehicle Download PDF

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JP4690766B2
JP4690766B2 JP2005136292A JP2005136292A JP4690766B2 JP 4690766 B2 JP4690766 B2 JP 4690766B2 JP 2005136292 A JP2005136292 A JP 2005136292A JP 2005136292 A JP2005136292 A JP 2005136292A JP 4690766 B2 JP4690766 B2 JP 4690766B2
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aerial vehicle
unmanned aerial
fuselage
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則之 高橋
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Subaru Corp
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Fuji Jukogyo KK
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Description

本発明は、無人航空機に関する。   The present invention relates to unmanned aerial vehicles.

近年、所定領域内の監視等を目的として、地上からの無線信号等で飛行し、所定の任務終了後に回収されて再使用に供される無人航空機が提案され、実用化されている。   2. Description of the Related Art In recent years, unmanned aerial vehicles have been proposed and put into practical use for the purpose of monitoring in a predetermined area, etc., which fly with a radio signal from the ground and are collected after a predetermined mission and reused.

かかる無人航空機の回収方法としては、通常の有人航空機と同様に、航法装置や誘導制御コンピュータ等を備える自動着陸装置（例えば、特許文献１参照。）を用いて目的地に機体を誘導して着陸させる方法が考えられる。しかし、比較的小型で搭載能力が小さい無人航空機に前記した自動着陸装置を搭載することは困難である。   As a method for collecting such an unmanned aircraft, as with a normal manned aircraft, an automatic landing device (see, for example, Patent Document 1) including a navigation device and a guidance control computer is used to guide the aircraft to the destination and land. A method of making it possible is conceivable. However, it is difficult to mount the automatic landing device described above on an unmanned aerial vehicle that is relatively small and has a small mounting capacity.

このため、従来は、所定の着地領域に網を張り、この網の上空で無人航空機の機首上げを行って失速させることにより、網の上に無人航空機をほぼ垂直に落下させて回収する方法（以下「落下回収方法」という）が採用されていた。
実開平６−６３５００号公報 Therefore, conventionally, a method of collecting a drone by dropping it almost vertically onto the net by setting up a net in a predetermined landing area and raising the nose of the unmanned airplane over the net to cause a stall. (Hereinafter referred to as “fall recovery method”).
Japanese Utility Model Publication No. 6-63500

しかし、前記した落下回収方法を採用すると、落下時に加えられる衝撃により、無人航空機の機体の内部に搭載された各種機器（動翼駆動用のサーボ機構や制御回路）が損傷してしまう頻度が高くなっていた。   However, if the fall recovery method described above is used, the frequency of damage to various devices (servo mechanisms and control circuits for driving blades) mounted inside the unmanned aerial vehicle due to the impact applied during the fall is high. It was.

本発明の課題は、落下回収される無人航空機において、落下時に機体に加えられる衝撃を大幅に緩和することにより、機体内部に搭載された各種機器の損傷を低減することである。   An object of the present invention is to reduce damage to various devices mounted in the airframe by drastically mitigating the impact applied to the airframe when dropped in an unmanned aerial vehicle that is dropped and collected.

以上の課題を解決するために、請求項１に記載の発明は、胴体と、前記胴体に設けられた固定翼と、前記胴体の内部に搭載された各種機器と、を備える無人航空機であって、前記胴体は、当該無人航空機の落下に伴い所定の閾値を超える曲げ荷重が加えられた場合に、各種機器が搭載されていない部分で局所的に折曲し、前記所定の閾値を越えない曲げ荷重が加えられた場合は前記部分の折曲が阻止されるように構成されてなることを特徴とする。 In order to solve the above problems, the invention according to claim 1 is an unmanned aerial vehicle including a fuselage, a fixed wing provided in the fuselage, and various devices mounted in the fuselage. When the bending load exceeding a predetermined threshold is applied with the unmanned aircraft falling, the fuselage is locally bent at a portion where various devices are not mounted and bent so as not to exceed the predetermined threshold. The structure is configured such that bending of the portion is prevented when a load is applied .

請求項１に記載の発明によれば、無人航空機の胴体は、落下時に所定の閾値を超える曲げ荷重が加えられた場合に、各種機器（動翼駆動機構や制御回路）が搭載されていない部分で局所的に折曲するように構成されているため、胴体全体に加えられる落下時の衝撃を大幅に緩和することができる。この結果、胴体の他の部分（折曲部分以外の部分）に搭載された各種機器の損傷を低減することができる。   According to the first aspect of the present invention, the fuselage of the unmanned aerial vehicle is a part where various devices (the moving blade driving mechanism and the control circuit) are not mounted when a bending load exceeding a predetermined threshold is applied at the time of dropping. Therefore, it is possible to significantly reduce the impact at the time of dropping applied to the entire body. As a result, it is possible to reduce damage to various devices mounted on other parts of the body (parts other than the bent part).

請求項２に記載の発明は、請求項１に記載の無人航空機において、前記胴体は、前記固定翼としての主翼が設けられた前方胴部と、
前記前方胴部の後方に配置されるとともに前記固定翼としての尾翼が設けられた後方胴部と、を有し、
前記前方胴部の後端部と、前記後方胴部の前端部と、を連結して前記胴体の折曲を実現させる連結手段と、
前記連結手段とともに前記胴体の折曲を阻止する一方、当該無人航空機の落下に伴い前記胴体に所定の閾値を超える曲げ荷重が加えられた場合に前記胴体の折曲を許容する折曲阻止許容手段と、を備えることを特徴とする。 According to a second aspect of the present invention, in the unmanned aerial vehicle according to the first aspect, the fuselage includes a front trunk portion provided with a main wing as the fixed wing,
A rear torso disposed behind the front torso and provided with a tail as the fixed wing, and
A connecting means for connecting the rear end portion of the front body portion and the front end portion of the rear body portion to realize bending of the body;
While preventing the bending of the fuselage together with the connecting means, the bending preventing allowing means for allowing the bending of the fuselage when a bending load exceeding a predetermined threshold is applied to the fuselage as the unmanned aircraft falls. And.

請求項２に記載の発明によれば、胴体は、主翼が設けられた前方胴部と、この前方胴部の後方に配置されるとともに尾翼が設けられた後方胴部と、を有し、前方胴部の後端部と、後方胴部の前端部と、が連結手段で連結されて、胴体の折曲が実現されるようになっている。   According to the invention described in claim 2, the fuselage includes a front trunk portion provided with a main wing, and a rear trunk portion provided behind the front trunk portion and provided with a tail wing. The rear end portion of the body portion and the front end portion of the rear body portion are connected by a connecting means, so that bending of the body is realized.

そして、通常飛行時においては、折曲阻止許容手段により胴体の折曲を阻止して胴体の剛性を確保することができる。また、落下時において胴体に所定の閾値を超える曲げ荷重が加えられた場合には、折曲阻止許容手段により胴体の折曲を許容することができるので、前方胴部に搭載された各種機器の損傷や、後方胴部に搭載された各種機器の損傷を低減することができる。   During normal flight, the bending of the body can be prevented by the bending prevention allowing means to ensure the rigidity of the body. In addition, when a bending load exceeding a predetermined threshold is applied to the fuselage at the time of dropping, the bending of the fuselage can be permitted by the bending prevention permitting means. Damage and damage to various devices mounted on the rear trunk can be reduced.

請求項３に記載の発明は、請求項２に記載の無人航空機において、前記連結手段により実現され前記折曲阻止許容手段により許容される前記折曲の方向は、前記後方胴部の後端が上がる方向であることを特徴とする。
請求項４に記載の発明は、請求項２又は請求項３に記載の無人航空機において、前記連結手段は、前記前方胴部を前記後方胴部に対して所定の回動軸を中心に回動させる回動軸部材であることを特徴とする。 According to a third aspect of the present invention, in the unmanned aerial vehicle according to the second aspect of the present invention, the direction of the bending that is realized by the connecting means and permitted by the bending prevention allowing means is determined by a rear end of the rear trunk. It is characterized by an upward direction.
According to a fourth aspect of the present invention, in the unmanned aerial vehicle according to the second or third aspect , the connecting means rotates the front trunk with respect to the rear trunk about a predetermined rotation axis. It is a rotating shaft member to be made.

請求項５に記載の発明は、請求項２又は請求項３に記載の無人航空機において、前記連結手段は、前記前方胴部を前記後方胴部に対して折曲自在とする可撓性板状部材であることを特徴とする。 According to a fifth aspect of the present invention, in the unmanned aerial vehicle according to the second or third aspect , the connecting means is a flexible plate-like member that can bend the front trunk part with respect to the rear trunk part. It is a member.

請求項６に記載の発明は、請求項５に記載の無人航空機において、前記可撓性板状部材は、ポリカーボネートで調製されてなることを特徴とする。 According to a sixth aspect of the present invention, in the unmanned aerial vehicle according to the fifth aspect , the flexible plate-shaped member is made of polycarbonate.

請求項７に記載の発明は、請求項２から６の何れか一項に記載の無人航空機において、前記折曲阻止許容手段は、前記前方胴部と前記後方胴部との連結部分外周に嵌着されることにより通常飛行時において前記前方胴部に対する前記後方胴部の一時固定状態を実現させる一方、落下時に前記胴体に所定の閾値を超える曲げ荷重が加えられた場合に前記一時固定状態を解除する嵌着部材であることを特徴とする。 According to a seventh aspect of the present invention, in the unmanned aerial vehicle according to any one of the second to sixth aspects, the bending prevention permitting means is fitted on an outer periphery of a connecting portion between the front trunk portion and the rear trunk portion. By wearing it, it realizes a temporarily fixed state of the rear trunk with respect to the front trunk during normal flight, while the temporary fixed state is applied when a bending load exceeding a predetermined threshold is applied to the trunk when dropped. It is a fitting member to be released.

請求項７に記載の発明によれば、前方胴部と後方胴部との連結部分外周に嵌着される嵌着部材により、胴体が非折曲状態にある通常飛行時において前方胴部に対する後方胴部の一時固定状態が実現される。一方、落下時に胴体に所定の閾値を超える曲げ荷重が加えられた場合には、前記一時固定状態が解除されて胴体の折曲が許容されることとなる。 According to the seventh aspect of the present invention, the fitting member fitted on the outer periphery of the connecting portion between the front body portion and the rear body portion is rearward relative to the front body portion during normal flight when the body is in an unfolded state. A temporarily fixed state of the trunk is realized. On the other hand, when a bending load exceeding a predetermined threshold is applied to the body at the time of dropping, the temporarily fixed state is released and the body is allowed to bend.

請求項８に記載の発明は、請求項２から６の何れか一項に記載の無人航空機において、前記折曲阻止許容手段は、前記前方胴部及び前記後方胴部に各々穿設され前記胴体が非折曲状態にあるときに重ね合わせられる孔部と、重ね合わせられた前記孔部に挿入されることにより前記前方胴部に対する前記後方胴部の一時固定状態を実現させる一方、落下時に前記胴体に所定の閾値を超える曲げ荷重が加えられた場合に折損して前記一時固定状態を解除する棒状部材と、を有することを特徴とする。 According to an eighth aspect of the present invention, in the unmanned aerial vehicle according to any one of the second to sixth aspects, the bending prevention permitting means is formed in the front trunk portion and the rear trunk portion, respectively. And a hole portion that is overlapped when in a non-bent state, and a state where the rear body portion is temporarily fixed to the front body portion by being inserted into the overlapped hole portion. And a rod-shaped member that breaks and releases the temporarily fixed state when a bending load exceeding a predetermined threshold is applied to the body.

請求項８に記載の発明によれば、前方胴部及び後方胴部に各々設けられ重ね合わせられた孔部に棒状部材が挿入されることにより、胴体が非折曲状態にある通常飛行時において前方胴部に対する後方胴部の一時固定状態が実現される。一方、落下時に胴体に所定の閾値を超える曲げ荷重が加えられた場合には、棒状部材が折損し前記一時固定状態が解除されて胴体の折曲が許容されることとなる。   According to the eighth aspect of the present invention, the rod-shaped member is inserted into the hole portions provided in the front trunk portion and the rear trunk portion, respectively, so that the fuselage is in an unfolded state during normal flight. A temporarily fixed state of the rear trunk relative to the front trunk is realized. On the other hand, when a bending load exceeding a predetermined threshold value is applied to the body at the time of dropping, the rod-like member is broken and the temporarily fixed state is released, and the body is allowed to be bent.

本発明によれば、無人航空機の胴体は、落下時に所定の閾値を超える曲げ荷重が加えら
れた場合に、各種機器が搭載されていない部分で局所的に折曲するように構成されているので、胴体の他の部分に加えられる衝撃を大幅に緩和することができ、搭載された各種機器の損傷を低減することができる。 According to the present invention, the fuselage of an unmanned aerial vehicle is configured to bend locally at a portion where various devices are not mounted when a bending load exceeding a predetermined threshold is applied when dropped. The impact applied to the other parts of the body can be greatly reduced, and the damage of various mounted devices can be reduced.

以下、本発明の実施の形態を、図を用いて詳細に説明する。なお、本実施の形態においては、本発明に係る無人航空機の一例として、「Hand-Launched方式」のグライダ型無人航空機（以下「ＵＡＶ（Unmanned Air Vehicle）」という）を挙げて説明することとする。   Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this embodiment, as an example of the unmanned aerial vehicle according to the present invention, a “Hand-Launched method” glider type unmanned aerial vehicle (hereinafter referred to as “UAV (Unmanned Air Vehicle)”) will be described. .

〔第１の実施の形態〕
まず、図１及び図２を用いて、本実施の形態に係るＵＡＶ１の構成について説明する。ＵＡＶ１は、図１に示すように、細長の胴体１０と、胴体１０の前方部分に固定された主翼２０と、胴体１０の後端に固定された垂直尾翼３０と、垂直尾翼３０の上端に固定された水平尾翼４０と、主翼２０の後方に配置された推進装置５０と、を備えて構成されている。 [First Embodiment]
First, the configuration of the UAV 1 according to the present embodiment will be described using FIG. 1 and FIG. As shown in FIG. 1, the UAV 1 is fixed to an elongated fuselage 10, a main wing 20 fixed to the front portion of the fuselage 10, a vertical tail 30 fixed to the rear end of the fuselage 10, and an upper end of the vertical tail 30. The horizontal tail 40 and the propulsion device 50 arranged behind the main wing 20 are provided.

胴体１０は、図２に示すように、主翼２０が固定される前方胴部１１と、前方胴部１１の後方に配置され垂直尾翼３０が固定される後方胴部１２と、から構成されている。前方胴部１１には、主翼２０に設けられた補助翼を駆動するサーボ機構、推進装置５０を駆動するモータ、地上から送信される操縦無線信号を受信する無線受信機、ＧＰＳ衛星からの測位情報を受信するＧＰＳ受信機、各種電子機器を制御する制御装置、バッテリ等の各種機器が搭載されている。また、後方胴部１２には、垂直尾翼３０に設けられた方向舵や水平尾翼４０に設けられた昇降舵を駆動するサーボ機構が搭載されている。   As shown in FIG. 2, the fuselage 10 includes a front trunk 11 to which the main wing 20 is fixed, and a rear trunk 12 that is arranged behind the front trunk 11 and to which the vertical tail 30 is fixed. . The front trunk 11 includes a servo mechanism for driving an auxiliary wing provided on the main wing 20, a motor for driving the propulsion device 50, a radio receiver for receiving a steering radio signal transmitted from the ground, and positioning information from a GPS satellite. Various devices such as a GPS receiver, a control device for controlling various electronic devices, and a battery are mounted. The rear trunk 12 is equipped with a servo mechanism that drives a rudder provided on the vertical tail 30 and an elevator provided on the horizontal tail 40.

前方胴部１１の後端部と、この前方胴部１１の後端部に連結される後方胴部１２の前端部と、は図２に示すようにそれぞれ円筒形状を有している。また、前方胴部１１の後端部及び後方胴部１２の前端部には、各種機器は搭載されていない。前方胴部１１の後端部上面には、図２に示すように、後方に延在して後方胴部１２の前端部上面を一部覆うような形状を有する突出片１１ａが連接されており、この突出片１１ａの先端部と、後方胴部１２の前端部上面と、がヒンジ１３で繋げられている。ヒンジ１３によって前方胴部１１と後方胴部１２とが連結され、胴体１０の折曲が実現される。また、ヒンジ１３は前方胴部１１を後方胴部１２対して所定の回動軸を中心に図２（ａ）に示した矢印Ｒの方向に約１８０°回動させる。すなわち、ヒンジ１３は本発明における連結手段及び回動軸部材である。   The rear end portion of the front body portion 11 and the front end portion of the rear body portion 12 connected to the rear end portion of the front body portion 11 have a cylindrical shape as shown in FIG. Various devices are not mounted on the rear end portion of the front body portion 11 and the front end portion of the rear body portion 12. As shown in FIG. 2, a projecting piece 11 a that extends rearward and has a shape that partially covers the upper surface of the front end portion of the rear barrel portion 12 is connected to the upper surface of the rear end portion of the front barrel portion 11. The tip of the protruding piece 11 a and the upper surface of the front end of the rear body 12 are connected by a hinge 13. The front body 11 and the rear body 12 are connected by the hinge 13, and the body 10 is bent. Further, the hinge 13 rotates the front body 11 with respect to the rear body 12 about 180 ° in the direction of the arrow R shown in FIG. That is, the hinge 13 is a connecting means and a rotating shaft member in the present invention.

また、図２（ａ）に斜線で示した前方胴部１１の突出片１１ａの上面と、後方胴部１２の前端部の両側面と、を含む環状領域Ａ（前方胴部１１と後方胴部１２との連結部分外周）には、クリップ１４が嵌着されている。クリップ１４は略Ｃ字状に湾曲するように形成されており、図２（ａ）に示すように胴体１０が非折曲状態にあるときに、前方胴部１１に対する後方胴部１２の一時固定状態を実現させるような付勢力を作用させる。一方、所定の閾値を超える曲げ荷重が胴体１０に加えられた場合には、クリップ１４が変形して、図２（ｂ）に示すように一時固定状態が解除される。   Further, an annular region A (the front trunk portion 11 and the rear trunk portion) including the upper surface of the protruding piece 11a of the front trunk portion 11 and the both side surfaces of the front end portion of the rear trunk portion 12 shown by hatching in FIG. 12, the clip 14 is fitted on the outer periphery of the connecting portion. The clip 14 is formed to be bent in a substantially C shape, and when the body 10 is in an unfolded state as shown in FIG. 2A, the rear body 12 is temporarily fixed to the front body 11. An urging force is applied to realize the state. On the other hand, when a bending load exceeding a predetermined threshold is applied to the body 10, the clip 14 is deformed and the temporarily fixed state is released as shown in FIG.

すなわち、クリップ１４は本発明における嵌着部材及び折曲阻止許容手段である。クリップ１４は、前記した付勢力を作用させることができ、なおかつ、所定の閾値を超える曲げ荷重が胴体１０に加えられた場合に変形する材料（例えば合成樹脂や金属）で製作される。また、クリップ１４の幅（湾曲方向に対して直角な方向の寸法）は、胴体１０の大きさや重量に応じて適宜決定することができる。なお、本実施の形態においては１個のクリップ１４を採用したが、２個以上のクリップ１４を採用することもできる。   That is, the clip 14 is the fitting member and the bending prevention permitting means in the present invention. The clip 14 can be made of a material (for example, synthetic resin or metal) that can apply the urging force described above and deforms when a bending load exceeding a predetermined threshold is applied to the body 10. Further, the width of the clip 14 (the dimension in the direction perpendicular to the bending direction) can be determined as appropriate according to the size and weight of the body 10. In the present embodiment, one clip 14 is used, but two or more clips 14 can also be used.

次に、本実施の形態に係るＵＡＶ１を回収する方法について説明する。   Next, a method for collecting UAV1 according to the present embodiment will be described.

まず、ユーザは、地上から遠隔操縦装置を用いてＵＡＶ１の無線受信機に所定の操縦無線信号を送信することにより、ＵＡＶ１の推進装置５０や各種動翼を駆動制御してＵＡＶ１を所定の着地領域の上空まで誘導する。なお、ＵＡＶ１の通常飛行時においては、図２に示したクリップ１４の付勢力により胴体１０の非折曲状態が維持されている。   First, the user transmits a predetermined control radio signal from the ground to the UAV1 radio receiver using a remote control device, thereby driving and controlling the UAV1 propulsion device 50 and various moving blades to control the UAV1 to a predetermined landing area. To the sky. During normal flight of the UAV 1, the unfolded state of the body 10 is maintained by the urging force of the clip 14 shown in FIG.

次いで、ユーザは、ＵＡＶ１が所定の着地領域の上空に入った時点で水平尾翼４０に設けられた昇降舵を駆動して大きな機首上げ操作を行うことにより、図１（ｂ）に示すような失速（ディープストール）状態に移行させる。かかる失速状態に移行したＵＡＶ１は、尾翼を下にして落下を開始し、最終的に所定の着地領域に張られた網によって回収される。ＵＡＶ１が網の上に落下すると、落下時の衝撃によって所定の閾値を超える大きな曲げ荷重が胴体１０に加えられるためクリップ１４が変形し、胴体１０は図１（ｃ）に示すように（ヒンジ１３を介して）折曲することとなる。   Next, the user drives the elevator provided on the horizontal tail 40 when the UAV 1 enters the predetermined landing area and performs a large nose up operation as shown in FIG. Transition to the stall (deep stall) state. The UAV 1 that has shifted to the stalled state starts to fall with the tail blade down, and is finally recovered by a net stretched over a predetermined landing area. When the UAV 1 falls on the net, a large bending load exceeding a predetermined threshold is applied to the fuselage 10 due to the impact at the time of dropping, so that the clip 14 is deformed. As shown in FIG. Will be bent).

以上説明した実施の形態に係るＵＡＶ１においては、主翼２０が固定され各種機器（補助翼駆動用のサーボ機構や制御回路）が搭載される前方胴部１１と、この前方胴部１１の後方に配置されるとともに垂直尾翼３０及び水平尾翼４０が固定され各種機器（方向舵・昇降舵駆動用のサーボ機構）が搭載される後方胴部１２と、から胴体１０が構成されている。また、前方胴部１１と後方胴部１２とがヒンジ１３で連結されて、胴体１０の折曲が実現されるようになっている。   In the UAV 1 according to the embodiment described above, the main body 20 is fixed and the front body portion 11 on which various devices (servo mechanisms and control circuits for driving the auxiliary blades) are mounted, and the rear body portion 11 is disposed behind the front body portion 11. At the same time, the body 10 is composed of the rear body 12 on which the vertical tail 30 and the horizontal tail 40 are fixed and various devices (servo mechanisms for rudder and elevator drive) are mounted. In addition, the front body 11 and the rear body 12 are connected by a hinge 13 so that the body 10 can be bent.

そして、胴体１０が非折曲状態にある通常飛行時においては、前方胴部１１と後方胴部１２との連結部分外周に嵌着されるクリップ１４の付勢力により、前方胴部１１に対する後方胴部１２の一時固定状態を実現させて胴体１０の折曲を阻止し、胴体１０の剛性を確保することができる。また、落下時に胴体１０に所定の閾値を超える曲げ荷重（クリップ１４の付勢力に抗した曲げ荷重）が加えられた場合には、クリップ１４が変形して前記一時固定状態が解除されるため、胴体１０の折曲を許容することができる。   During normal flight in which the body 10 is not bent, the rear body against the front body 11 is urged by the urging force of the clip 14 fitted to the outer periphery of the connecting portion between the front body 11 and the back body 12. The temporarily fixed state of the part 12 can be realized, the bending of the body 10 can be prevented, and the rigidity of the body 10 can be ensured. In addition, when a bending load exceeding a predetermined threshold is applied to the body 10 at the time of dropping (a bending load against the urging force of the clip 14), the clip 14 is deformed and the temporarily fixed state is released. The bending of the body 10 can be allowed.

すなわち、以上説明した実施の形態に係るＵＡＶ１の胴体１０は、落下時に所定の閾値を超える曲げ荷重が加えられた場合に、前方胴部１１と後方胴部１２との連結部分（各種機器が搭載されていない部分）で局所的に折曲するように構成されているため、胴体１０の全体に加えられる落下時の衝撃を大幅に緩和することができる。この結果、前方胴部１１及び後方胴部１２に搭載された各種機器の損傷を低減することができる。   In other words, the body 10 of the UAV 1 according to the embodiment described above has a connecting portion between the front body portion 11 and the rear body portion 12 (various devices are mounted) when a bending load exceeding a predetermined threshold is applied at the time of dropping. Since it is configured to be locally bent at a portion not formed), the impact at the time of dropping applied to the entire body 10 can be greatly reduced. As a result, damage to various devices mounted on the front trunk portion 11 and the rear trunk portion 12 can be reduced.

[第２の実施の形態]
次に、図３を用いて、本発明の第２の実施の形態に係るＵＡＶについて説明する。本実施の形態に係るＵＡＶは、第１の実施の形態に係るＵＡＶ１の胴体１０の構造を変更したものであり、その他の構成については第１の実施の形態と実質的に同一である。このため、変更した構成についてのみ説明することとする。 [Second Embodiment]
Next, the UAV according to the second embodiment of the present invention will be described with reference to FIG. The UAV according to the present embodiment is obtained by changing the structure of the body 10 of the UAV 1 according to the first embodiment, and the other configurations are substantially the same as those of the first embodiment. For this reason, only the changed configuration will be described.

本実施の形態に係るＵＡＶの胴体１０Ａは、図３に示すように、主翼が固定される前方胴部１１Ａと、前方胴部１１Ａの後方に配置され垂直尾翼が固定される後方胴部１２Ａと、から構成されている。これら前方胴部１１Ａ及び後方胴部１２Ａには、それぞれ、サーボ機構を含む各種機器が搭載されている。   As shown in FIG. 3, a UAV fuselage 10A according to the present embodiment includes a front fuselage 11A to which a main wing is fixed, and a rear fuselage 12A to be arranged behind the front fuselage 11A and to which a vertical tail is fixed. , Is composed of. Various devices including a servo mechanism are mounted on the front trunk portion 11A and the rear trunk portion 12A.

前方胴部１１Ａの後端部と、この前方胴部１１Ａの後端部に連結される後方胴部１２Ａの前端部と、は図３に示すように各々円筒形状を有している。また、前方胴部１１Ａの後端部及び後方胴部１２Ａの前端部には、各種機器は搭載されていない。前方胴部１１Ａの
後端部両側面には、図３に示すように、後方に延在して後方胴部１２Ａの前端部両側面の外側に配置されるように形成された突出片１１Ａａが連接されている。そして、これら突出片１１Ａａの先端部が、後方胴部１２Ａの前端部両側面に回動軸部材１３Ａを介して回動自在に取り付けられている。回動軸部材１３Ａによって前方胴部１１Ａと後方胴部１２Ａとが連結されることにより、胴体１０Ａの折曲が実現される。また、回動軸部材１３Ａは、前方胴部１１Ａを後方胴部１２Ａに対して図３（ａ）に示した矢印Ｒ1及びＲ2の方向に各々所定角度回動させる。すなわち、回動軸部材１３Ａは本発明における連結手段及び回動式連結部材である。 As shown in FIG. 3, the rear end portion of the front body portion 11A and the front end portion of the rear body portion 12A connected to the rear end portion of the front body portion 11A each have a cylindrical shape. Various devices are not mounted on the rear end portion of the front body portion 11A and the front end portion of the rear body portion 12A. As shown in FIG. 3, projecting pieces 11 </ b> Aa formed so as to extend rearward and to be disposed on the outer sides of both front end portions of the rear trunk portion 12 </ b> A are formed on both side surfaces of the rear end portion of the front trunk portion 11 </ b> A. It is connected. And the front-end | tip part of these protrusion pieces 11Aa is attached to the front-end part both sides | surfaces of the back trunk | drum 12A via the rotating shaft member 13A so that rotation is possible. The body part 10A is bent by connecting the front body part 11A and the rear body part 12A by the rotation shaft member 13A. Further, the rotation shaft member 13A rotates the front body portion 11A with respect to the rear body portion 12A by a predetermined angle in the directions of arrows R 1 and R 2 shown in FIG. That is, the rotating shaft member 13A is a connecting means and a rotating connecting member in the present invention.

また、図３（ｂ）に示すように、前方胴部１１Ａの突出片１１Ａａ及び後方胴部１２Ａの前端部側面には、それぞれ、孔部１１Ａｂ及び孔部１２Ａｂが穿設されている。これら２つの孔部１１Ａｂ及び孔部１２Ａｂは、図３（ａ）に示すように胴体１０Ａが非折曲状態にあるときに重ね合わせられるように配置されている。また、本実施の形態においては、図３（ａ）に示すように
重ね合わせられた２つの孔部１１Ａｂ、１２Ａｂに挿入されるシアピン１４Ａを設けている。シアピン１４Ａは、胴体１０Ａが非折曲状態にあるときに前方胴部１１Ａに対する後方胴部１２Ａの一時固定状態を実現させるとともに、落下時に所定の閾値を超える曲げ荷重が胴体１０Ａに加えられた場合に折損して前記一時固定状態を解除する。 Further, as shown in FIG. 3B, a hole 11Ab and a hole 12Ab are formed in the protruding piece 11Aa of the front body 11A and the front end side surface of the rear body 12A, respectively. These two holes 11Ab and 12Ab are arranged so as to be overlapped when the body 10A is in an unfolded state as shown in FIG. Further, in the present embodiment, as shown in FIG. 3A, a shear pin 14A is provided that is inserted into the two holes 11Ab and 12Ab that are overlapped. The shear pin 14A realizes a temporarily fixed state of the rear body 12A with respect to the front body 11A when the body 10A is in an unbent state, and a bending load exceeding a predetermined threshold is applied to the body 10A when dropped. To break the temporarily fixed state.

すなわち、シアピン１４は本発明における棒状部材であり、孔部１１Ａｂ、１２Ａｂ及びシアピン１４によって本発明における折曲阻止許容手段が構成される。シアピン１４Ａは、通常飛行時に前記一時固定状態を実現させるような剛性を有するとともに、所定の閾値を超える曲げ荷重が胴体１０Ａに加えられた場合に折損するような強度を有する金属材料で製作される。   That is, the shear pin 14 is a rod-shaped member in the present invention, and the holes 11Ab and 12Ab and the shear pin 14 constitute a bending prevention allowing means in the present invention. The shear pin 14A is made of a metal material having rigidity that realizes the temporarily fixed state during normal flight and strength that breaks when a bending load exceeding a predetermined threshold is applied to the body 10A. .

以上説明した実施の形態に係るＵＡＶにおいては、主翼が固定され各種機器が搭載される前方胴部１１Ａと、この前方胴部１１Ａの後方に配置されるとともに垂直尾翼及び水平尾翼が固定され各種機器が搭載される後方胴部１２Ａと、から胴体１０Ａが構成されている。また、前方胴部１１Ａと後方胴部１２Ａとが回動軸部材１３Ａで連結されて、胴体１０Ａの折曲が実現されるようになっている。   In the UAV according to the embodiment described above, the front trunk portion 11A on which the main wing is fixed and various devices are mounted, and the vertical tail and the horizontal tail are fixed and the various devices are disposed behind the front trunk 11A. The body 10 </ b> A is configured from the rear body 12 </ b> A on which is mounted. Further, the front trunk portion 11A and the rear trunk portion 12A are connected by a rotating shaft member 13A, so that the bending of the trunk body 10A is realized.

そして、前方胴部１１Ａ及び後方胴部１２Ａの双方に設けられ相互に重ね合わせられた孔部１１Ａｂ、１２Ａｂにシアピン１４Ａを挿入することにより、胴体１０Ａが非折曲状態にある通常飛行時において前方胴部１１Ａに対する後方胴部１２Ａの一時固定状態を実現させて胴体１０Ａの折曲を阻止し、胴体１０Ａの剛性を確保することができる。また、落下時に胴体１０Ａに所定の閾値を超える曲げ荷重が加えられた場合には、シアピン１４Ａが折損して一時固定状態が解除されるため、胴体１０Ａの折曲を許容することができる。   Then, by inserting a sheer pin 14A into holes 11Ab and 12Ab that are provided in both the front body portion 11A and the rear body portion 12A and are overlapped with each other, the body 10A is moved forward during normal flight in an unfolded state. A temporarily fixed state of the rear body 12A with respect to the body 11A can be realized to prevent the body 10A from being bent, and the rigidity of the body 10A can be ensured. Further, when a bending load exceeding a predetermined threshold is applied to the body 10A at the time of dropping, the shear pin 14A is broken and the temporarily fixed state is released, so that bending of the body 10A can be allowed.

すなわち、以上説明した実施の形態に係るＵＡＶの胴体１０Ａは、落下時に所定の閾値を超える曲げ荷重が加えられた場合に、前方胴部１１Ａと後方胴部１２Ａとの連結部分（各種機器が搭載されていない部分）で局所的に折曲するように構成されているため、胴体１０Ａの全体に加えられる落下時の衝撃を大幅に緩和することができる。この結果、前方胴部１１Ａ及び後方胴部１２Ａに搭載された各種機器の損傷を低減することができる。   That is, the UAV body 10A according to the above-described embodiment is configured such that when a bending load exceeding a predetermined threshold value is applied when dropped, a connecting portion between the front body portion 11A and the rear body portion 12A (various devices are mounted). Since it is configured to be locally bent at a portion not formed), the impact at the time of dropping applied to the entire body 10A can be greatly reduced. As a result, damage to various devices mounted on the front trunk portion 11A and the rear trunk portion 12A can be reduced.

なお、第１の実施の形態においては、前方胴部１１の後端部「上面」に突出片１１ａを連接し、この突出片１１ａの先端部と、後方胴部１２の前端部「上面」と、をヒンジ１３で繋げて胴体１０の折曲を実現させた例を示したが、前方胴部１１の後端部「下面」（又は「側面」）に突出片を連接し、この突出片の先端部と、後方胴部１２の前端部「下面」（又は「側面」）と、をヒンジで繋げて胴体１０の折曲を実現させることもできる。   In the first embodiment, the projecting piece 11a is connected to the rear end portion “upper surface” of the front body portion 11, the front end portion of the projecting piece 11a, and the front end portion “upper surface” of the rear body portion 12. , Are connected by a hinge 13 to realize the bending of the body 10, but a projecting piece is connected to the rear end “lower surface” (or “side surface”) of the front body 11, The front end portion and the front end portion “lower surface” (or “side surface”) of the rear body portion 12 can be connected by a hinge to realize bending of the body 10.

また、第２の実施の形態においては、前方胴部１１Ａの後端部「両側面」に突出片１１Ａａを設け、これら突出片１１Ａａの先端部を、後方胴部１２Ａの前端部「両側面」に取り付けて、前方胴部１１Ａを後方胴部１２Ａに対して上下方向に回動させるように構成した例を示したが、前方胴部１１Ａの後端部「上下面」に突出片を連接し、これら突出片の先端部を、後方胴部１２Ａの前端部「上下面」に取り付けて、前方胴部１１Ａを後方胴部１２Ａに対して左右方向に回動させるように構成してもよい。   Moreover, in 2nd Embodiment, protrusion piece 11Aa is provided in the rear-end part "both sides" of front trunk | drum 11A, and the front-end part "both sides" of rear trunk | drum 12A is provided for the front-end | tip part of these protrusion pieces 11Aa. In the above example, the front body portion 11A is configured to rotate up and down with respect to the rear body portion 12A. However, a protruding piece is connected to the rear end portion “upper and lower surface” of the front body portion 11A. The front end portions of the protruding pieces may be attached to the front end portion “upper and lower surfaces” of the rear body portion 12A, and the front body portion 11A may be rotated in the left-right direction with respect to the rear body portion 12A.

また、以上の各実施の形態においては、ＵＡＶの胴体の前方胴部と後方胴部とを連結する連結手段として回動式連結部材（ヒンジや回動軸部材）を採用した例を示したが、連結手段はこのような回動式連結部材に限られるものではない。例えば、前方胴部の後端部と後方胴部の前端部とを繋ぐ可撓性板状部材を連結手段として採用することもできる。可撓性板状部材は、高い強度及び柔軟性を有する材料（例えばポリカーボネート）で調製されるのが好ましい。   In each of the above embodiments, an example in which a rotary connecting member (hinge or rotary shaft member) is used as a connecting means for connecting the front body portion and the rear body portion of the UAV body is shown. The connecting means is not limited to such a rotating connecting member. For example, a flexible plate-like member that connects the rear end portion of the front barrel portion and the front end portion of the rear barrel portion may be employed as the connecting means. The flexible plate member is preferably prepared from a material having high strength and flexibility (for example, polycarbonate).

また、以上の各実施の形態においては、折曲阻止許容手段として「嵌着部材（クリップ）」を採用したり、「棒状部材（シアピン）及び孔部」を採用したりしたが、折曲阻止許容手段はこのような構成に限られるものではない。すなわち、通常飛行時においてＵＡＶの胴体の折曲を阻止する一方、落下時において胴体に所定の閾値を超える曲げ荷重が加えられた場合に胴体の折曲を許容するような機能を果たす構成であればよい。   Further, in each of the above embodiments, “fitting member (clip)” or “bar-shaped member (shear pin) and hole” is adopted as the bending prevention permitting means. The permitting means is not limited to such a configuration. That is, the UAV fuselage can be prevented from bending during normal flight, while the fuselage can be bent when a bending load exceeding a predetermined threshold is applied to the fuselage during a fall. That's fine.

（ａ）は本発明の第１の実施の形態に係る無人航空機の概要図であり、（ｂ）は（ａ）に示した無人航空機の失速状態を示す図であり、（ｃ）は（ａ）に示した無人航空機の胴体が折曲した状態を示す図である。(A) is a schematic diagram of the unmanned aerial vehicle according to the first embodiment of the present invention, (b) is a diagram showing a stalled state of the unmanned aerial vehicle shown in (a), and (c) is (a) It is a figure showing the state where the fuselage of the unmanned aerial vehicle shown in FIG. （ａ）は図１に示した無人航空機の胴体を構成する前方胴部と後方胴部との連結部分（非折曲状態）の拡大図であり、（ｂ）は（ａ）に示した連結部分で胴体が折曲した状態を示す拡大図である。(A) is the enlarged view of the connection part (non-bending state) of the front fuselage and the back fuselage which comprise the fuselage of the unmanned aerial vehicle shown in FIG. 1, (b) is the connection shown in (a). It is an enlarged view which shows the state which the trunk | drum bent in the part. （ａ）は本発明の第２の実施の形態に係る無人航空機の胴体を構成する前方胴部と後方胴部との連結部分（非折曲状態）を示す拡大図であり、（ｂ）は（ａ）に示した連結部分で胴体が折曲した状態を示す拡大図である。(A) is an enlarged view which shows the connection part (non-bending state) of the front fuselage and the back fuselage which comprise the fuselage | drone of the unmanned aircraft which concerns on the 2nd Embodiment of this invention, (b) It is an enlarged view which shows the state which the trunk | drum bent in the connection part shown to (a).

符号の説明Explanation of symbols

１ ＵＡＶ（無人航空機）
１０、１０Ａ 胴体
１１、１１Ａ 前方胴部
１１Ａｂ 孔部（折曲阻止許容手段の一部）
１２、１２Ａ 後方胴部
１２Ａｂ 孔部（折曲阻止許容手段の一部）
１３ ヒンジ（連結手段、回動軸部材）
１３Ａ 回動軸部材（連結手段）
１４ クリップ（折曲阻止許容手段、嵌着部材）
１４Ａ シアピン（折曲阻止許容手段の一部、棒状部材）
２０ 主翼（固定翼）
３０ 垂直尾翼（固定翼）
４０ 水平尾翼（固定翼） 1 UAV (Unmanned Aerial Vehicle)
10, 10A body 11, 11A front body portion 11Ab hole (part of bending prevention means)
12, 12A rear trunk 12Ab hole (part of the bending prevention means)
13 Hinge (connecting means, rotating shaft member)
13A Rotating shaft member (connecting means)
14 clip (bending prevention means, fitting member)
14A Shear pin (part of bending prevention permitting means, rod-shaped member)
20 Main wing (fixed wing)
30 Vertical tail (fixed wing)
40 Horizontal tail (fixed wing)

Claims (8)

胴体と、前記胴体に設けられた固定翼と、前記胴体の内部に搭載された各種機器と、を備える無人航空機であって、
前記胴体は、
当該無人航空機の落下に伴い所定の閾値を超える曲げ荷重が加えられた場合に、各種機器が搭載されていない部分で局所的に折曲し、前記所定の閾値を越えない曲げ荷重が加えられた場合は前記部分の折曲が阻止されるように構成されてなることを特徴とする無人航空機。 An unmanned aerial vehicle comprising a fuselage, fixed wings provided on the fuselage, and various devices mounted in the fuselage,
The body is
When a bending load exceeding a predetermined threshold is applied with the unmanned aircraft falling, the bending load that does not exceed the predetermined threshold is applied locally at the part where various devices are not mounted. unmanned aircraft, characterized by comprising been configured as bent in the portion is prevented when. 前記胴体は、
前記固定翼としての主翼が設けられた前方胴部と、
前記前方胴部の後方に配置されるとともに前記固定翼としての尾翼が設けられた後方胴部と、を有し、
前記前方胴部の後端部と、前記後方胴部の前端部と、を連結して前記胴体の折曲を実現させる連結手段と、
前記連結手段とともに前記胴体の折曲を阻止する一方、当該無人航空機の落下に伴い前記胴体に所定の閾値を超える曲げ荷重が加えられた場合に前記胴体の折曲を許容する折曲阻止許容手段と、
を備えることを特徴とする請求項１に記載の無人航空機。 The body is
A front trunk portion provided with a main wing as the fixed wing;
A rear torso disposed behind the front torso and provided with a tail as the fixed wing, and
A connecting means for connecting the rear end portion of the front body portion and the front end portion of the rear body portion to realize bending of the body;
While preventing the bending of the fuselage together with the connecting means, the bending preventing allowing means for allowing the bending of the fuselage when a bending load exceeding a predetermined threshold is applied to the fuselage as the unmanned aircraft falls. When,
The unmanned aerial vehicle according to claim 1, comprising: 前記連結手段により実現され前記折曲阻止許容手段により許容される前記折曲の方向は、前記後方胴部の後端が上がる方向であることを特徴とする請求項２に記載の無人航空機。The unmanned aerial vehicle according to claim 2, wherein the bending direction realized by the connecting means and allowed by the bending prevention allowing means is a direction in which a rear end of the rear trunk portion is raised. 前記連結手段は、
前記前方胴部を前記後方胴部に対して所定の回動軸を中心に回動させる回動軸部材であることを特徴とする請求項２又は請求項３に記載の無人航空機。 The connecting means includes
The unmanned aerial vehicle according to claim 2 or 3 , wherein the unmanned aerial vehicle is a pivot shaft member that pivots the front trunk portion with respect to the rear trunk portion about a predetermined pivot shaft. 前記連結手段は、
前記前方胴部を前記後方胴部に対して折曲自在とする可撓性板状部材であることを特徴とする請求項２又は請求項３に記載の無人航空機。 The connecting means includes
The unmanned aerial vehicle according to claim 2 or 3 , wherein the unmanned aerial vehicle is a flexible plate-like member that allows the front trunk portion to be bent with respect to the rear trunk portion. 前記可撓性板状部材は、
ポリカーボネートで調製されてなることを特徴とする請求項５に記載の無人航空機。 The flexible plate member is
The unmanned aerial vehicle according to claim 5 , wherein the unmanned aircraft is prepared from polycarbonate. 前記折曲阻止許容手段は、
前記前方胴部と前記後方胴部との連結部分外周に嵌着されることにより通常飛行時において前記前方胴部に対する前記後方胴部の一時固定状態を実現させる一方、落下時に前記胴体に所定の閾値を超える曲げ荷重が加えられた場合に前記一時固定状態を解除する嵌着部材であることを特徴とする請求項２から６の何れか一項に記載の無人航空機。 The bending prevention allowing means is:
By fitting on the outer periphery of the connecting portion between the front body and the rear body, the rear body is temporarily fixed with respect to the front body during normal flight. The unmanned aerial vehicle according to any one of claims 2 to 6 , wherein the unmanned aircraft is a fitting member that releases the temporarily fixed state when a bending load exceeding a threshold value is applied. 前記折曲阻止許容手段は、
前記前方胴部及び前記後方胴部に各々穿設され前記胴体が非折曲状態にあるときに重ね合わせられる孔部と、
重ね合わせられた前記孔部に挿入されることにより前記前方胴部に対する前記後方胴部の一時固定状態を実現させる一方、落下時に前記胴体に所定の閾値を超える曲げ荷重が加えられた場合に折損して前記一時固定状態を解除する棒状部材と、
を有することを特徴とする請求項２から６の何れか一項に記載の無人航空機。 The bending prevention allowing means is:
A hole formed in each of the front body and the rear body and overlapped when the body is in an unfolded state;
While being inserted into the overlapped hole portion, the rear body portion is temporarily fixed to the front body portion, and when falling, a bending load exceeding a predetermined threshold is applied to the body when falling. And a rod-shaped member for releasing the temporarily fixed state,
The unmanned aerial vehicle according to any one of claims 2 to 6 , wherein
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