JP2001247098A - Airship mooring device - Google Patents
Airship mooring deviceInfo
- Publication number
- JP2001247098A JP2001247098A JP2000058753A JP2000058753A JP2001247098A JP 2001247098 A JP2001247098 A JP 2001247098A JP 2000058753 A JP2000058753 A JP 2000058753A JP 2000058753 A JP2000058753 A JP 2000058753A JP 2001247098 A JP2001247098 A JP 2001247098A
- Authority
- JP
- Japan
- Prior art keywords
- mooring
- airship
- gondola
- vehicle
- gripping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、飛行船係留の自
動化、及び無人化を実現可能とする飛行船係留装置に関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an airship mooring apparatus that enables automation and unmanned operation of an airship mooring.
【０００２】[0002]
【従来の技術】従来の飛行船係留装置は、飛行船の先端
にロープを懸装し、このロープを２０人程のグランド要
員が係留ポールまで曳航し、係留ポールに懸吊されたロ
ープに前記飛行船の先端に懸装されたロープを繋縛し、
次いでこのロープを巻き取り、飛行船の先端が前記係留
ポールの所望近傍に接近した位置で固定する。2. Description of the Related Art In a conventional airship mooring apparatus, a rope is suspended at the tip of an airship, and about 20 ground personnel tow the rope to a mooring pole. Tie the rope suspended at the tip,
Then, the rope is wound up and fixed at a position where the tip of the airship approaches a desired vicinity of the mooring pole.
【０００３】更に、係留した飛行船を安定させる為に錘
の役目をするバラスト等を積み込む必要があった。Further, in order to stabilize the moored airship, it is necessary to load a ballast or the like serving as a weight.
【０００４】[0004]
【発明が解決しようとする課題】然しながら上述の従来
例では、多くのグランド要員が必要である上、離陸時、
着陸時共に夫々同数の要員が必要であり、しかも離着陸
の時刻によっては、交代要員を余分に配する必要があ
り、これらの問題が飛行船の普及を妨げている原因の一
つであると考えられる。However, in the above-mentioned conventional example, a large number of ground personnel are required, and at the time of takeoff,
Both landing and landing require the same number of personnel, and depending on the time of take-off and landing, extra replacement personnel need to be allocated, which is considered to be one of the factors that hinder the spread of airships. .
【０００５】また、飛行船が着陸しようとする場合、少
々の風でも飛行船自体が揺れて不安定な状態を呈し、着
陸操作時の低速状態では飛行船を係留する為のコントロ
ールが困難となるという課題がある。In addition, when the airship attempts to land, the airship itself shakes and shows an unstable state even with a slight wind, and it is difficult to control the mooring of the airship at low speed during the landing operation. is there.
【０００６】この発明は、上述の事情に鑑みて成された
もので、グランド要員を必要とせず、無人で飛行船を係
留可能とする飛行船係留装置を提供することを目的とす
る。SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide an airship mooring apparatus that does not require a ground person and can moor an airship unmanned.
【０００７】[0007]
【課題を解決するための手段】この発明は、下記構成を
備えることにより上記課題を解決できるものである。The present invention can solve the above-mentioned problems by providing the following constitution.
【０００８】（１）四輪操舵・四輪駆動の車両に飛行船
を係留する為のゴンドラ先端の尖鋭状係合部を嵌脱自在
の係合受け部となるゴンドラガイド及びこのガイド用受
け部材と、ゴンドラを掛止する為の流体シリンダ等の駆
動手段により作動するゴンドラフックと、前記ゴンドラ
を左右両側から挟掴開閉自在の挟掴開閉機構を備え、飛
行船と係留用車両の相対速度の調整及び前記飛行船の進
行軸と前記係留用車両の進行軸とを一致係合させる為の
係合位置決め調整機構を備え、前記車両基体の前方に突
出、折曲後退可能に設けた係留アームの先端に把持部を
設けて係留用ポールに把持可能とする把持手段を有し、
前記把持部を有する把持手段が前記係留用ポールを把持
した後、前記挟掴開閉機構を展開し、前記車両基体を地
表より浮上させ前記係留用ポールを中心として飛行船の
先端を常に風上に向かって旋回・回動自在に係留可能と
することを特徴とする飛行船係留装置。(1) A gondola guide and a guide receiving member serving as an engagement receiving portion capable of engaging and disengaging a sharp engaging portion at the tip of a gondola for mooring an airship to a four-wheel steering / four-wheel drive vehicle. Equipped with a gondola hook operated by driving means such as a fluid cylinder for locking the gondola, and a gripper opening / closing mechanism capable of gripping and opening and closing the gondola from both left and right sides, and adjusting the relative speed between the airship and the mooring vehicle; An engagement positioning adjustment mechanism is provided for engaging the advancing axis of the airship with the advancing axis of the mooring vehicle. The engagement positioning adjustment mechanism protrudes forward of the vehicle body and is held at the tip of a mooring arm provided to bend and retract. Having gripping means for providing a portion and enabling gripping on the mooring pole,
After the gripping means having the gripping portion grips the mooring pole, the gripping opening / closing mechanism is deployed, the vehicle body floats above the surface of the ground, and the tip of the airship always faces windward with the mooring pole as a center. An airship mooring device characterized in that it can be turned and rotatably moored.
【０００９】（２）前記挟掴開閉機構は、車両基体の前
方近傍左右両側面に左右に開閉してゴンドラを挟掴開閉
する為のアームの基部を軸支し、前記アームを開閉駆動
する為の流体シリンダ等の駆動手段を有し、前記ゴンド
ラを挟掴した時に当接する低圧空気入りタイヤをアーム
の先端内側に、且つ前記アームの軸心に直交する軸上に
車輪を軸支し、前記アームを左右に開脚した時に車両基
体を地表から離れて上方に浮上するようにし、且つ前記
車両基体を旋回・回動自在に構成したことを特徴とする
前項（１）記載の飛行船係留装置。(2) The gripping opening and closing mechanism pivotally supports a base of an arm for gripping and opening and closing the gondola by opening and closing left and right on both sides near the front of the vehicle body to drive the arm to open and close. Having a driving means such as a fluid cylinder of the low pressure pneumatic tire which comes into contact when the gondola is pinched, supports the wheel on the axis inside the tip end of the arm, and on the axis perpendicular to the axis of the arm, The airship mooring device according to the above item (1), wherein the vehicle body floats upward away from the ground surface when the arm is opened to the left and right, and the vehicle body is configured to be rotatable and rotatable.
【００１０】（３）前記係合位置決め調整機構は、ゴン
ドラ先端に設けられたヘッドライトや、航行灯から照射
される光を集光するレンズと該レンズを介して透過され
る光を検知するイメージセンサとなるＣＣＤ等の光学系
手段と、光の状況を写し出すモニタ画面と、これらの制
御を司るコントローラとで構成され、飛行船と係留用車
両の相対速度及び飛行船と係留用車両の進行軸を一致係
合させ、ゴンドラ先端に突出する尖鋭状係合部を嵌脱自
在の係合受け部となるゴンドラガイドに嵌合密着可能に
構成して成ることを特徴とする前項（１）記載の飛行船
係留装置。(3) The engagement positioning adjustment mechanism includes a headlight provided at the tip of the gondola, a lens for condensing light emitted from a navigation light, and an image for detecting light transmitted through the lens. The system consists of an optical system such as a CCD as a sensor, a monitor screen that displays the light conditions, and a controller that controls these controls. The relative speed between the airship and the mooring vehicle and the traveling axis of the airship and the mooring vehicle are matched. The airship mooring described in the above item (1), wherein the sharpened engagement portion projecting from the end of the gondola is engaged with the gondola guide serving as a removably engageable receiving portion. apparatus.
【００１１】（４）前記把持手段は、流体シリンダ等の
駆動手段を係留用車両の車両基体の前方に突出、折曲後
退可能に設けられた尖鋭状アームの先端に係留用ポール
を把持する為の駆動部付き把持部を備えて、前記係留用
ポールに係留把持するポールグリップを形成して成るこ
とを特徴とする前項（１）記載の飛行船係留装置。(4) The gripping means projects a driving means such as a fluid cylinder in front of a vehicle body of the mooring vehicle, and grips the mooring pole at the tip of a sharp arm provided to bend and retract. The airship mooring device according to (1), wherein the mooring pole is provided with a pole grip for mooring and gripping the mooring pole.
【００１２】[0012]
【発明の実施の形態】以下に本発明の一実施の形態を説
明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below.
【００１３】図１（ａ）は、本発明に係る飛行船係留装
置の一実施の形態を示す側面図、（ｂ）は、同上平面
図、（ｃ）は、ゴンドラフックの動作を示す説明図、図
２は、挟掴開閉機構を展開・開脚し、車両の基体を地表
より浮上させ飛行船を風上に向かって旋回・回動自在に
係留した時の状態を示す説明図、図３（ａ），（ｂ）
は、光学系手段を用いた係合位置決め調整機構の作用を
示す説明図である。FIG. 1A is a side view showing an embodiment of an airship mooring apparatus according to the present invention, FIG. 1B is a plan view of the same, FIG. 1C is an explanatory view showing the operation of a gondola hook, FIG. 2 is an explanatory view showing a state in which the gripper opening / closing mechanism is deployed and opened, the base of the vehicle is lifted from the surface of the ground, and the airship is moored to be able to turn and rotate toward the windward, and FIG. ), (B)
FIG. 4 is an explanatory diagram showing an operation of an engagement positioning adjustment mechanism using an optical system.
【００１４】以下図面を参照して説明する。A description will be given below with reference to the drawings.
【００１５】四輪操舵・四輪駆動の係留用車両１に飛行
船２を係留する為のゴンドラ先端３ａの尖鋭状係合部３
ｂを嵌脱自在の係合受け部となるゴンドラガイド４及び
このガイド用受け部材４ａと、ゴンドラ３を掛止する為
の流体シリンダ等の駆動手段５により作動するゴンドラ
フック６と、前記ゴンドラ３を左右両側から挟掴開閉自
在の挟掴開閉機構ＫＡを備え、飛行船２と係留用車両１
の相対速度の調整及び前記飛行船２の進行軸と前記係留
用車両１の進行軸とを一致係合させる為の係合位置決め
調整機構ＫＢを備え、前記車両基体１ａの前方に突出、
折曲後退可能に設けた係留アーム７の先端にポールグリ
ップ用油圧シリンダ５ｅにて作動する把持部７ａを設け
て係留用ポールＰＫに前記ポールグリップとなる把持部
７ａにより把持可能とする把持手段Ｈｄを有し、前記把
持部７ａを有する把持手段Ｈｄが前記係留用ポールＰＫ
を把持した後、前記挟掴開閉機構ＫＡを展開し、前記車
両基体１ａを地表より浮上させ前記係留用ポールＰＫを
中心として飛行船２の先端を常に風上に向かって旋回・
回動自在に係留可能である。A sharp engaging portion 3 of a gondola tip 3a for mooring the airship 2 to a four-wheel steering / four-wheel drive mooring vehicle 1.
b) a gondola guide 4 and a guide receiving member 4a serving as an engagement receiving portion capable of fitting and removing the b, a gondola hook 6 operated by driving means 5 such as a fluid cylinder for hooking the gondola 3, and the gondola 3 The airship 2 and the mooring vehicle 1 are provided with
And an engagement positioning adjustment mechanism KB for adjusting the relative speed of the airship and making the advancing axis of the airship 2 coincide with the advancing axis of the mooring vehicle 1, and protruding forward of the vehicle body 1a.
A gripping means Hd provided at the tip of a mooring arm 7 provided so as to be able to bend and retracted, which is provided with a gripping portion 7a operated by a hydraulic cylinder 5e for a pole grip so that the mooring pole PK can be gripped by the gripping portion 7a serving as the pole grip. And the holding means Hd having the holding portion 7a is provided with the mooring pole PK.
, The gripper opening / closing mechanism KA is deployed, the vehicle body 1a rises above the surface of the ground, and the tip of the airship 2 is constantly turned toward the windward centering on the mooring pole PK.
It can be rotatably moored.
【００１６】前記挟掴開閉機構ＫＡは、車両基体１ａの
前方近傍左右両側面に左右に開閉してゴンドラ３を挟掴
開閉する為のアーム８の基部８ａを軸支し、前記アーム
８を開閉駆動する為の流体シリンダ等の駆動手段５を構
成する挟掴開閉用油圧シリンダ５ｂ、５ｃを有し、前記
ゴンドラ３を挟掴した時に当接する低圧空気入りタイヤ
９、９をアーム８、８の先端内側に、且つ前記アーム
８、８の軸心に直交する軸上に車輪１０、１０を軸支
し、前記アーム８、８を左右に開脚した時に車両基体１
ａを地表から離れて上方に浮上するようにし、係合位置
決め調整機構ＫＢは、ゴンドラ先端３ａのヘッドライト
と車両基体１ａ上のガイド用受け部材４ａと、この上方
に設けられたイメージセンサ（ＣＣＤ）及びレンズ等か
ら成る光学系手段１１と制御用コントローラＣを用い、
飛行船２と係留用車両１の相対速度及び前記飛行船２と
係留用車両１の進行軸を一致係合して、ゴンドラ先端３
ａに突出して設けられた尖鋭状係合部３ｂを嵌脱自在の
係合受け部となるゴンドラガイド４に嵌合密着可能に構
成し、更に、前記把持手段Ｈｄは、車両基体１ａの前方
に係留アーム用油圧シリンダ５ｄを介して突出、折曲後
退可能な、即ち、折り畳み伸縮可能な前記把持手段Ｈｄ
を構成する係留アーム７を係留アーム用油圧シリンダ５
ｄを作用させて折曲後退の状態から突出させ、流体シリ
ンダ等の駆動手段５を有する尖鋭状の前記係留アーム７
の先端に係留用ポールＰＫを把持する為のボールグリッ
プ用油圧シリンダ５ｅから成る駆動部付き把持部７ａと
なるポールグリップを備えて、前記係留用ポールＰＫに
前記ポールグリップ用油圧シリンダ５ｅを作動させ、係
留把持するようにして成ることを特徴とする。The gripping opening / closing mechanism KA pivotally supports a base 8a of an arm 8 for gripping and opening / closing the gondola 3 by opening / closing the left / right sides near the front of the vehicle body 1a. It has gripping opening / closing hydraulic cylinders 5b and 5c which constitute a driving means 5 such as a fluid cylinder for driving, and the low pressure pneumatic tires 9 and 9 which come into contact when the gondola 3 is gripped are connected to the arms 8 and 8 respectively. The vehicle body 1 is supported when the wheels 10, 10 are pivotally supported on the axis inside the distal end and on the axis perpendicular to the axis of the arms 8, 8, and the arms 8, 8 are opened to the left and right.
a is floated upward away from the ground surface, and the engagement positioning adjustment mechanism KB includes a headlight at the tip 3a of the gondola, a guide receiving member 4a on the vehicle body 1a, and an image sensor (CCD) provided above the headlight 3a. ) And an optical system means 11 including a lens and a controller C for control,
The relative speed of the airship 2 and the mooring vehicle 1 and the traveling axis of the airship 2 and the mooring vehicle 1 are matched and engaged, and the gondola tip 3
a is formed so as to be able to fit and adhere to the gondola guide 4 serving as a removably engageable receiving portion, and the gripping means Hd is provided in front of the vehicle body 1a. The gripping means Hd which can protrude, bend and retreat, that is, can be folded and stretched via the mooring arm hydraulic cylinder 5d.
Arm 7 constituting the mooring arm hydraulic cylinder 5
d to act from the bent and retracted state, and the sharp mooring arm 7 having driving means 5 such as a fluid cylinder.
A pole grip which is a gripping part 7a with a driving part comprising a ball grip hydraulic cylinder 5e for gripping the mooring pole PK is provided at the tip of the pole, and the mooring pole PK is operated with the pole grip hydraulic cylinder 5e. It is characterized by being moored and gripped.
【００１７】上述の構成及び図面に基づいて作用を説明
する。The operation will be described based on the above configuration and the drawings.
【００１８】飛行船２が着陸しようとする場合は、風下
側より係留用車両１に向かって着陸態勢をとり、無線操
作で前記係留用車両１を始動させる。前記係留用車両１
に搭載されたコントローラＣ及び、ＣＣＤから成るイメ
ージセンサやレンズ等の光学系手段１１から成る係合位
置決め調整機構ＫＢに飛行船２のヘッドライトが照射し
て写るように係留用車両１自体を旋回・回動させて飛行
船２から照射されるヘッドライトを探査しコントローラ
Ｃに嵌設された不図示のモニタ画面の画面中央にヘッド
ライトの照射光が写るように移動する。飛行船２のヘッ
ドライトを常にモニタ画面の中心に置き左右に配置され
た航行灯を探査する。航行灯を見出したらヘッドライト
を中心として左右の航行灯が等間隔となるように車両基
体１ａの四輪駆動車輪が操舵される。図３（ａ）におい
て、例えば、ＡＢ＜ＡＣの状態の場合、ヘッドライトＡ
の位置を中心に置きながら左の方向へ進ませるように係
留用車両１の後輪の移動量は大きくなる。When the airship 2 intends to land, it takes a landing position from the leeward side to the mooring vehicle 1 and starts the mooring vehicle 1 by wireless operation. The mooring vehicle 1
The mooring vehicle 1 itself is turned so that the headlights of the airship 2 illuminate the controller C mounted on the vehicle and the engagement positioning adjustment mechanism KB including the optical system means 11 such as an image sensor and a lens including a CCD. By rotating, the headlights emitted from the airship 2 are searched, and the headlights are moved so that the irradiation light of the headlights appears at the center of the monitor screen (not shown) fitted to the controller C. The headlights of the airship 2 are always placed at the center of the monitor screen, and the navigation lights arranged on the left and right are searched. When the navigation lights are found, the four-wheel drive wheels of the vehicle body 1a are steered so that the left and right navigation lights are equally spaced around the headlight. In FIG. 3A, for example, if AB <AC, the headlight A
The amount of movement of the rear wheels of the mooring vehicle 1 is increased so as to move the vehicle in the left direction while keeping the position at the center.
【００１９】また、例えば、前述とは逆に、ＡＢ＞ＡＣ
の状態の場合は、ヘッドライトＡを中心に置きながら右
の方向へ進ませるように係留用車両１の後輪の移動量は
大きくなる。For example, contrary to the above, AB> AC
In the case of the state described above, the amount of movement of the rear wheels of the mooring vehicle 1 is increased so that the headlight A is moved rightward while being centered.
【００２０】また、ＡＢ＝ＡＣでその間隔の寸法値が小
であれば係留用車両１を高速で進行させ、また、ＡＢ＝
ＡＣでその間隔の寸法値が大となるに従って係留用車両
１の速度を落として移動するように操舵される。If AB = AC and the dimension value of the interval is small, the mooring vehicle 1 is advanced at a high speed.
In AC, the mooring vehicle 1 is steered so as to move at a reduced speed as the dimension value of the interval increases.
【００２１】若し飛行船２の進行速度が大きく、ＡＢ＝
ＡＣの間隔寸法値が大となるのが速すぎる場合は、係留
用車両１を後退する方向に移動速度を調節し、飛行船２
がゴンドラガイド４に当接する時のショックを最小限に
抑えるようにする。If the traveling speed of the airship 2 is high, AB =
If the AC interval dimension value is too fast to increase, the moving speed is adjusted in the direction in which the mooring vehicle 1 moves backward, and the airship 2
Is to minimize the shock when it comes into contact with the gondola guide 4.
【００２２】ヘッドライトと左右の航行灯の間隔寸法値
が等しければ、係留用車両１の進行軸は飛行船２の進行
軸と一致していることになる。この状態で係留用車両１
は飛行船２に向かって進行する。航行灯間の間隔寸法値
が狭い状態では速く走行し、航行灯間の間隔寸法値が広
くなるに従って走行速度を落とすようにする。両者がか
なり接近した状態では、不図示の超音波測定器等を用い
て距離を測定することも可能である。飛行船２のゴンド
ラ３かつ挟掴開閉機構ＫＡの間に進入した場合、同機構
ＫＡが閉じて飛行船２のゴンドラ３を挟掴する体勢とな
り、前記挟掴開閉機構ＫＡを構成するアーム８、８の先
端内側に設けられた衝撃吸収用低圧空気入りタイヤ９、
９によって左右両側から挟掴把持され、飛行船２のゴン
ドラ３が不安定に揺れても、ゴンドラ３と係留用車両１
の中心軸が一致するようにコントロールされる。If the distance between the headlight and the left and right navigation lights is equal, the traveling axis of the mooring vehicle 1 coincides with the traveling axis of the airship 2. In this state, the mooring vehicle 1
Travels toward the airship 2. When the distance between the navigation lights is narrow, the vehicle travels faster, and as the distance between the lights increases, the traveling speed decreases. In a state where the two are quite close, it is also possible to measure the distance using an ultrasonic measuring device (not shown) or the like. When entering between the gondola 3 of the airship 2 and the gripping opening / closing mechanism KA, the mechanism KA is closed and the posture for gripping the gondola 3 of the airship 2 is reached, and the arms 8, 8 constituting the gripping opening / closing mechanism KA are moved. A low-pressure pneumatic tire 9 for shock absorption provided inside the tip,
9, the gondola 3 and the mooring vehicle 1 can be gripped from both left and right sides, and the
Are controlled so that their central axes coincide.
【００２３】ゴンドラ３の先端に突出して設けられた尖
鋭状係合部３ｂが係留用車両１の係合部となるゴンドラ
ガイド４に嵌合密着されてガイド用受け部材４ａを押圧
するとゴンドラフック６が作用し、飛行船２は係留用車
両１に掛止される。次いで係留アーム７が係留アーム用
油圧シリンダ５ｄの作用により折曲後退の状態から突出
して先端に設けられた把持部７ａとなるポールグリップ
がポールグリップ用油圧シリンダ５ｅの作動により係留
用ポールＰＫをグリップする。尚この操作では不図示の
光学系または無線式制御手段を有する係留ポールセンサ
により誘導される。A sharp engaging portion 3b protruding from the tip of the gondola 3 is fitted and adhered to a gondola guide 4 serving as an engaging portion of the mooring vehicle 1 and presses a guide receiving member 4a to push the gondola hook 6a. The airship 2 is hung on the mooring vehicle 1. Next, the mooring arm 7 protrudes from the state of being bent and retracted by the action of the mooring arm hydraulic cylinder 5d, and the pole grip which becomes the gripping portion 7a provided at the tip grips the mooring pole PK by the operation of the pole grip hydraulic cylinder 5e. I do. This operation is guided by a mooring pole sensor having an optical system (not shown) or wireless control means.
【００２４】係留用車両１を介して係留ポールＰＫに係
留された飛行船２のゴンドラ３は、挟掴開閉機構ＫＡを
展開、開脚しアーム８、８の先端に軸支された車輪１
０、１０で地面を旋回・回動自在にホールドし、車両基
体１ａを地表より浮上させ、常に風向に順応し風上に向
かって飛行船を係留することが出来る。The gondola 3 of the airship 2 moored to the mooring pole PK via the mooring vehicle 1 has the gripper opening / closing mechanism KA deployed, the legs opened, and the wheels 1 supported by the tips of the arms 8, 8.
At 0 and 10, the ground is swiveled and rotatable, the vehicle body 1a is raised above the surface of the ground, and the airship can always be adapted to the wind direction and moored toward the windward.
【００２５】上述の各操作、即ち係留用車両１の操舵、
加減速、駆動手段５ａ〜５ｅとなる流体シリンダ等の各
種油圧シリンダの切り替え操作等、一連の操作は係留用
車両１上に搭載されたコントローラＣを介して実行する
ようになっている。Each of the above-mentioned operations, ie, steering of the mooring vehicle 1,
A series of operations such as acceleration / deceleration and switching operations of various hydraulic cylinders such as fluid cylinders serving as the driving means 5a to 5e are executed via a controller C mounted on the mooring vehicle 1.
【００２６】この発明により、従来飛行船２の先端に係
留用ロープを懸装していた為に係留場所の所要面積は、
少なくとも飛行船２の全長分が係留用ポールＰＫを中心
に旋回・回動する分を必要としたが、飛行船２の下部中
央付近に設けられたゴンドラ３の先端に突出して設けら
れた尖鋭状係合部３ｂが係留用車両１のゴンドラガイド
４に嵌合密着状態となる為に係留アーム７を介して把持
部７ａとなるポールグリップが係留用ポールＰＫを把持
する点は、飛行船２の先端から内側に向かって全長の１
／３程度の所に位置し、従って、係留用ポールＰＫを中
心とする旋回・回動の為の半径は従来の約２／３程度で
済み、飛行船を係留する為の所要面積は、約１／２程度
で良く、係留場所が大幅に節減出来ることとなる。According to the present invention, since the mooring rope is conventionally suspended at the tip of the airship 2, the required area of the mooring place is as follows:
Although at least the entire length of the airship 2 required turning and rotating around the mooring pole PK, a sharp engagement protruding from the tip of a gondola 3 provided near the lower center of the airship 2 was required. The point at which the pole grip serving as the gripping portion 7a grips the mooring pole PK via the mooring arm 7 in order for the portion 3b to be fitted and adhered to the gondola guide 4 of the mooring vehicle 1 is located inside the tip of the airship 2 from the tip. Toward the full length 1
Therefore, the radius for turning and turning around the mooring pole PK is about 2/3 of the conventional one, and the required area for mooring the airship is about 1 / 2 is sufficient, and the mooring place can be greatly reduced.
【００２７】尚、離陸する場合は、駆動手段５の流体シ
リンダとなるゴンドラフック用油圧シリンダ５ａを収縮
する方向に作用させると、ゴンドラ３を掛止・固定して
いたゴンドラフック６が外れて飛行船２を切り離すこと
が出来る。In the case of takeoff, when the hydraulic cylinder 5a for the gondola hook serving as the fluid cylinder of the driving means 5 is acted in the contracting direction, the gondola hook 6 which has locked and fixed the gondola 3 comes off and the airship 2 can be separated.
【００２８】[0028]
【発明の効果】以上説明したように、本発明によれば、
グランド要員を必要とせず、無人で飛行船を風上に向か
って旋回・回動自在に係留可能とし、更に飛行船の係留
面積を従来の略１/２程度に縮小して節減可能とすると
いう効果を呈する。As described above, according to the present invention,
With no need for ground personnel, the unmanned airship can be turned and swiveled upwind, and the mooring area of the airship can be reduced to about half that of the conventional airship. Present.
【図１】 （ａ）は、本発明に係る飛行船係留装置の一
実施の形態を示す側面図、（ｂ）は、同上平面図、
（ｃ）は、ゴンドラフックの動作を示す説明図1 (a) is a side view showing an embodiment of an airship mooring device according to the present invention, FIG. 1 (b) is a plan view of the same,
(C) is an explanatory view showing the operation of the gondola hook.
【図２】 挟掴開閉機構を展開・開脚し、車両の基体を
地表より浮上させ飛行船を風上に向かって旋回・回動自
在に係留した時の状態を示す説明図FIG. 2 is an explanatory view showing a state in which a gripper opening / closing mechanism is deployed and opened, a base of the vehicle is lifted from the surface of the ground, and an airship is rotatably and rotatably moored toward the windward side.
【図３】 （ａ），（ｂ）は光学系手段を用いた係合位
置決め調整機構の作用を示す説明図FIGS. 3A and 3B are explanatory views showing the operation of an engagement positioning adjustment mechanism using an optical system.
１ 係留用車両 １ａ 車両基体 ２ 飛行船 ３ ゴンドラ ３ａ ゴンドラ先端 ３ｂ 尖鋭状係合部 ４ ゴンドラガイド ４ａ ガイド用受け部材 ５ 駆動手段（流体シリンダ） ５ａ ゴンドラフック用油圧シリンダ ５ｂ、５ｃ 挟掴開閉用油圧シリンダ ５ｄ 係留アーム用油圧シリンダ ５ｅ ポールグリップ用油圧シリンダ ６ ゴンドラフック ７ 係留アーム ７ａ 把持部（ポールグリップ） ８ アーム ８ａ 基部 ９ 低圧タイヤ（低圧空気入りタイヤ） １０ 車輪 １１ 光学系手段 Ｃ コントローラ ＫＡ 挟掴開閉機構 ＫＢ 係合位置決め調整機構 Ｈｄ 把持手段 ＰＫ 係留用ポール DESCRIPTION OF SYMBOLS 1 Mooring vehicle 1a Vehicle base 2 Airship 3 Gondola 3a Gondola tip 3b Sharp engagement part 4 Gondola guide 4a Guide receiving member 5 Drive means (fluid cylinder) 5a Hydraulic cylinder for gondola hook 5b, 5c Hydraulic cylinder for gripping opening and closing 5d Hydraulic cylinder for mooring arm 5e Hydraulic cylinder for pole grip 6 Gondola hook 7 Mooring arm 7a Gripping part (pole grip) 8 Arm 8a Base 9 Low-pressure tire (low-pressure pneumatic tire) 10 Wheel 11 Optical means C Controller KA Holding and opening and closing Mechanism KB Engagement positioning adjustment mechanism Hd Gripping means PK Mooring pole
─────────────────────────────────────────────────────
────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成１２年３月７日（２０００．３．７）[Submission date] March 7, 2000 (200.3.7)
【手続補正１】[Procedure amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００２２[Correction target item name] 0022
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【００２２】ヘッドライトと左右の航行灯の間隔寸法値
が等しければ、係留用車両１の進行軸は飛行船２の進行
軸と一致していることになる。この状態で係留用車両１
は飛行船２に向かって進行する。航行灯間の間隔寸法値
が狭い状態では速く走行し、航行灯間の間隔寸法値が広
くなるに従って走行速度を落とすようにする。両者がか
なり接近した状態では、不図示の超音波測定器等を用い
て距離を測定することも可能である。飛行船２のゴンド
ラ３が、挟掴開閉機構ＫＡの間に進入した場合、同機構
ＫＡが閉じて飛行船２のゴンドラ３を挟掴する体勢とな
り、前記挟掴開閉機構ＫＡを構成するアーム８、８の先
端内側に設けられた衝撃吸収用低圧空気入りタイヤ９、
９によって左右両側から挟掴把持され、飛行船２のゴン
ドラ３が不安定に揺れても、ゴンドラ３と係留用車両１
の中心軸が一致するようにコントロールされる。If the distance between the headlight and the left and right navigation lights is equal, the traveling axis of the mooring vehicle 1 coincides with the traveling axis of the airship 2. In this state, the mooring vehicle 1
Travels toward the airship 2. When the distance between the navigation lights is narrow, the vehicle travels faster, and as the distance between the lights increases, the traveling speed decreases. In a state where the two are quite close, it is also possible to measure the distance using an ultrasonic measuring device (not shown) or the like. Arms 8,8 gondola 3 airships 2, when entering between the Kyo掴closing mechanism KA, which become the posture of the mechanism KA is Kyo掴the gondola 3 of the airship 2 closed, constituting the clamping掴closing mechanism KA Shock absorbing low-pressure pneumatic tire 9 provided inside the tip of
9, the gondola 3 and the mooring vehicle 1 can be gripped from both left and right sides, and the
Are controlled so that their central axes coincide.
Claims (4)
船を係留する為のゴンドラ先端の尖鋭状係合部を嵌脱自
在の係合受け部となるゴンドラガイド及びこのガイド用
受け部材と、ゴンドラを掛止する為の流体シリンダ等の
駆動手段により作動するゴンドラフックと、前記ゴンド
ラを左右両側から挟掴開閉自在の挟掴開閉機構を備え、
飛行船と車両の相対速度の調整及び前記飛行船の進行軸
と前記係留用車両の進行軸とを一致係合させる為の係合
位置決め調整機構を備え、前記係留用車両の車両基体の
前方に突出、折曲後退可能に設けた係留アームの先端に
把持部を設けて係留用ポールに把持可能とする把持手段
を有し、前記把持部を有する把持手段が前記係留用ポー
ルを把持した後、前記挟掴開閉機構を展開し、前記車両
基体を地表より浮上させ前記係留用ポールを中心として
飛行船の先端を常に風上に向かって旋回・回動自在に係
留可能とすることを特徴とする飛行船係留装置。1. A gondola guide and a guide receiving member serving as an engagement receiving portion capable of engaging and disengaging a sharp engaging portion at the tip of a gondola for mooring an airship to a four-wheel steering / four-wheel drive mooring vehicle. And a gondola hook operated by driving means such as a fluid cylinder for hooking the gondola, and a gripper opening / closing mechanism that can open and close the gondola from both left and right sides,
An engagement positioning adjustment mechanism for adjusting the relative speed between the airship and the vehicle and matching the advancement axis of the airship with the advancement axis of the mooring vehicle, protruding forward of a vehicle body of the mooring vehicle, Gripping means provided at a tip of a mooring arm provided so as to be able to bend and retract so that the mooring pole can be gripped by the gripping means; the gripping means having the gripping part grips the mooring pole; An airship mooring device characterized by deploying a grip opening / closing mechanism, allowing the vehicle base to float above the surface of the ground, and allowing the tip of the airship to be always rotatable and rotatable around the mooring pole toward the windward side. .
基体前方近傍左右両側面に左右に開閉してゴンドラを挟
掴開閉する為のアームの基部を軸支し、前記アームを開
閉駆動する為の流体シリンダ等の駆動手段を有し、前記
ゴンドラを挟掴した時に前記ゴンドラ側面に当接するよ
うに低圧空気入りタイヤをアームの先端内側に、且つ前
記アームの軸心に直交する水平方向の軸上に車輪を軸支
し、前記アームを左右に開脚した時に車両基体を地表か
ら離れて上方に浮上するようにし、且つ前記車両基体を
旋回・回動自在に構成したことを特徴とする請求項１記
載の飛行船係留装置。2. The opening / closing mechanism for holding and opening the arm to open and close the left and right sides near the front of the vehicle body of the mooring vehicle to open and close the gondola, and to open and close the arm. A driving means such as a fluid cylinder for performing the operation, the low-pressure pneumatic tire is placed inside the distal end of the arm so as to contact the side surface of the gondola when the gondola is gripped, and in a horizontal direction orthogonal to the axis of the arm. The vehicle base is supported on a shaft, and when the arm is opened to the left and right, the vehicle base is separated from the ground surface and floats upward, and the vehicle base is configured to be freely rotatable and rotatable. The airship mooring device according to claim 1, wherein:
先端に設けられたヘッドライトや、航行灯から照射され
る光を集光するレンズと該レンズを介して透過される光
を検知するイメージセンサとなるＣＣＤ等の光学系手段
と、光の状況を写し出すモニタ画面と、これらの制御を
司るコントローラとで構成され、飛行船と係留用車両の
相対速度及び飛行船と係留用車両の進行軸を一致係合さ
せ、ゴンドラ先端に突出する尖鋭状係合部を嵌脱自在の
係合受け部となるゴンドラガイドに嵌合密着可能に構成
して成ることを特徴とする請求項１記載の飛行船係留装
置。3. The engagement positioning adjustment mechanism includes a headlight provided at the end of the gondola, a lens for condensing light emitted from a navigation light, and an image sensor for detecting light transmitted through the lens. It is composed of optical system means such as CCD, a monitor screen for displaying the state of light, and a controller for controlling these. The relative speed of the airship and the mooring vehicle and the traveling axis of the airship and the mooring vehicle are matched. 2. The airship mooring device according to claim 1, wherein a sharp engaging portion protruding from a tip of the gondola is configured to be fitted and adhered to a gondola guide serving as a releasable engaging receiving portion.
手段を係留用車両の車両基体の前方に突出、折曲後退可
能に設けられた尖鋭状アームの先端に係留用ポールを把
持する為の駆動部付き把持部を備えて、前記係留用ポー
ルに係留把持するポールグリップを形成して成ることを
特徴とする請求項１記載の飛行船係留装置。4. The holding means projects a driving means such as a fluid cylinder forward of a vehicle body of the mooring vehicle, and holds a mooring pole at a tip end of a sharp arm provided so as to be able to bend and retreat. The airship mooring device according to claim 1, further comprising a grip portion having a driving portion, wherein a pole grip for mooring and gripping the mooring pole is formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000058753A JP2001247098A (en) | 2000-03-03 | 2000-03-03 | Airship mooring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000058753A JP2001247098A (en) | 2000-03-03 | 2000-03-03 | Airship mooring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2001247098A true JP2001247098A (en) | 2001-09-11 |
Family
ID=18579299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000058753A Withdrawn JP2001247098A (en) | 2000-03-03 | 2000-03-03 | Airship mooring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2001247098A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115258125A (en) * | 2022-08-22 | 2022-11-01 | 山东泰开重工机械有限公司 | Mooring vehicle device for mooring airship and using method |
-
2000
- 2000-03-03 JP JP2000058753A patent/JP2001247098A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115258125A (en) * | 2022-08-22 | 2022-11-01 | 山东泰开重工机械有限公司 | Mooring vehicle device for mooring airship and using method |
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