JP6448719B1 - Legs, leg units and unmanned air vehicles - Google Patents

Legs, leg units and unmanned air vehicles Download PDF

Info

Publication number
JP6448719B1
JP6448719B1 JP2017144683A JP2017144683A JP6448719B1 JP 6448719 B1 JP6448719 B1 JP 6448719B1 JP 2017144683 A JP2017144683 A JP 2017144683A JP 2017144683 A JP2017144683 A JP 2017144683A JP 6448719 B1 JP6448719 B1 JP 6448719B1
Authority
JP
Japan
Prior art keywords
leg
main body
load
reinforcing member
grounded
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.)
Active
Application number
JP2017144683A
Other languages
Japanese (ja)
Other versions
JP2019025968A (en
Inventor
隆 四宮
隆 四宮
正典 吉原
正典 吉原
慧紀 米原
慧紀 米原
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yamaha Motor Co Ltd
Original Assignee
Yamaha Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yamaha Motor Co Ltd filed Critical Yamaha Motor Co Ltd
Priority to JP2017144683A priority Critical patent/JP6448719B1/en
Priority to PCT/JP2018/017340 priority patent/WO2019021564A1/en
Priority to CN201880049416.9A priority patent/CN110958975B/en
Priority to KR1020207001777A priority patent/KR102282094B1/en
Application granted granted Critical
Publication of JP6448719B1 publication Critical patent/JP6448719B1/en
Publication of JP2019025968A publication Critical patent/JP2019025968A/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar 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
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C2025/325—Alighting gear characterised by elements which contact the ground or similar surface  specially adapted for helicopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Vibration Dampers (AREA)

Abstract

【課題】着地面との接触による衝撃を緩和しかつ着地面の起伏に対する追従性を高めるとともに、大きな荷重に対処することが可能な、脚部、脚部ユニットおよび無人飛行体を提供する。【解決手段】マルチコプタ１０は、マルチコプタ本体Ｍと、マルチコプタ本体Ｍに取り付けられる脚部ユニット３６とを備える。脚部ユニット３６は、４つの脚部３８を含む。各脚部３８は、脚部本体４６と補強部材４８とを含む。脚部本体４６と補強部材４８との間の隙間Ｃ１は、補強部材４８の一端部側で脚部本体４６の長手方向に対して直交する方向に設けられ、補強部材４８は他端部側で脚部本体４６に接続される。補強部材４８の一端部を接地させた状態で脚部本体４８の他端部側から荷重を加えたとき、荷重が所定未満であれば両者間に隙間Ｃ１を有し、荷重が所定以上であれば隙間Ｃ１がなくなり両者が接触する。【選択図】図３Provided are a leg, a leg unit, and an unmanned aerial vehicle capable of reducing impact caused by contact with the landing surface, improving followability to the undulation of the landing surface, and capable of dealing with a large load. A multi-copter 10 includes a multi-copter body M and a leg unit 36 attached to the multi-copter body M. The leg unit 36 includes four legs 38. Each leg portion 38 includes a leg body 46 and a reinforcing member 48. The gap C1 between the leg main body 46 and the reinforcing member 48 is provided in a direction orthogonal to the longitudinal direction of the leg main body 46 on one end side of the reinforcing member 48, and the reinforcing member 48 is on the other end side. Connected to the leg body 46. When a load is applied from the other end side of the leg main body 48 with one end of the reinforcing member 48 grounded, if the load is less than a predetermined value, there is a gap C1 between them, and the load is not less than a predetermined value. For example, the gap C1 disappears and both come into contact. [Selection] Figure 3

Description

この発明は脚部、脚部ユニットおよび無人飛行体に関し、より特定的には散布物を散布する無人飛行体用の脚部および脚部ユニットならびにそれらを備える無人飛行体に関する。   The present invention relates to a leg, a leg unit, and an unmanned aerial vehicle, and more particularly, to a leg and a leg unit for an unmanned aerial vehicle that sprays scattered matter and an unmanned aerial vehicle including the same.

この種の従来技術の一例として、特許文献１において、回転翼航空機の機体軸方向と交差し所定間隔を隔てて回転翼航空機の機体底部に取付けられる一対のクロスチューブと、各クロスチューブの両端に、機体軸方向に向けて連結される一対の脚部チューブとを備え、脚部チューブに、上方に突出する湾曲部を形成し、この湾曲部の適宜位置にクロスチューブとの連結点が形成されることを特徴とする回転翼航空機の降着装置が開示されている。   As an example of this type of prior art, in Patent Document 1, a pair of cross tubes that are attached to the bottom of a rotary wing aircraft at a predetermined interval crossing the airframe axis direction of the rotary wing aircraft, and at both ends of each cross tube A pair of leg tubes connected in the direction of the machine body axis, a curved portion protruding upward is formed on the leg tube, and a connection point with the cross tube is formed at an appropriate position of the curved portion. A landing gear apparatus for a rotary wing aircraft is disclosed.

特開２００５−３４３３０９号公報JP 2005-343309 A

特許文献１では、装置の簡便な改良によって、急速な沈下速度で着地する場合などでも大きな衝撃エネルギを吸収して機体や乗員にダメージを与えないことを可能にしようとしている。   In Patent Document 1, a simple improvement of the device is intended to make it possible to absorb large impact energy and prevent damage to the airframe and the occupant even when landing at a rapid settlement speed.

ところで、無人ヘリコプタやマルチコプタなどの無人飛行体が着地するとき、着地面に接触してから完全に着地するまで、脚部に加わる荷重は増加していく。加わる荷重が比較的小さい着地初期では、着地面との接触による衝撃を緩和しかつ着地面の起伏に対する追従性を高めることが求められ、一方、加わる荷重が比較的大きい着地完了時付近では、大きな荷重に対処することが望まれる。しかしながら、特許文献１には、これらを共に解決する手段につき、何ら開示も示唆もされていない。   By the way, when an unmanned aerial vehicle such as an unmanned helicopter or a multicopter lands, the load applied to the leg portion increases from the time when it touches the ground until it completely lands. At the initial stage of landing where the applied load is relatively small, it is required to reduce the impact caused by contact with the landing surface and to improve the followability to the undulation of the landing surface. It is desirable to deal with loads. However, Patent Document 1 does not disclose or suggest any means for solving these problems together.

それゆえにこの発明の主たる目的は、着地面との接触による衝撃を緩和しかつ着地面の起伏に対する追従性を高めるとともに、大きな荷重に対処することが可能な、脚部、脚部ユニットおよび無人飛行体を提供することである。   Therefore, the main object of the present invention is to reduce the impact caused by contact with the landing surface, improve the followability to the undulation of the landing surface, and cope with a large load. Is to provide a body.

上述の目的を達成するために、一端部を接地させた状態で他端部側から荷重を加えたとき、荷重の変化量に対する荷重作用点の変位量の割合は、荷重が所定未満である第１領域よりも荷重が所定以上である第２領域の方が小さくなる、脚部が提供される。   In order to achieve the above-mentioned object, when a load is applied from the other end side with one end grounded, the ratio of the displacement amount of the load acting point to the load change amount Legs are provided in which the second region having a predetermined load or more is smaller than the one region.

この発明では、荷重の変化量に対する荷重作用点の変位量の割合（変位量／荷重変化量）は、荷重が所定未満である第１領域よりも荷重が所定以上である第２領域の方が小さくなる。言い換えれば、荷重が比較的小さい第１領域より荷重が比較的大きい第２領域の方が、脚部のばね定数が大きくなる。したがって、たとえばこの発明に係る３つ以上の脚部を無人飛行体に用い、無人飛行体を着地させるとき、加わる荷重が所定未満の着地初期では、荷重の変化量に対する荷重作用点の変位量の割合が比較的大きくなるので脚部が変形し易い。その結果、脚部と着地面との接触による衝撃を緩和でき、かつ着地面の凹凸を吸収して着地面の起伏に対する追従性を高めることができる。一方、加わる荷重が所定以上の着地完了時付近では、荷重の変化量に対する荷重作用点の変位量の割合が比較的小さくなるので脚部が変形し難い。その結果、エネルギを吸収して大きな荷重に対処することができる。   In the present invention, the ratio of the displacement amount of the load application point to the load change amount (displacement amount / load change amount) is greater in the second region where the load is equal to or greater than the first region where the load is less than the predetermined value. Get smaller. In other words, the spring constant of the leg portion is larger in the second region having a relatively large load than in the first region having a relatively small load. Therefore, for example, when three or more legs according to the present invention are used for an unmanned aerial vehicle and the unmanned aerial vehicle is landed, at the initial landing when the applied load is less than a predetermined amount, Since the ratio is relatively large, the legs are easily deformed. As a result, the impact due to the contact between the legs and the landing can be alleviated, and the unevenness of the landing can be absorbed to improve the followability to the undulation of the landing. On the other hand, in the vicinity of the completion of landing when the applied load is equal to or greater than a predetermined value, the ratio of the displacement amount of the load application point to the load change amount is relatively small, so that the leg portion is difficult to deform. As a result, energy can be absorbed and a large load can be dealt with.

なお、「荷重作用点」とは、荷重が加えられる箇所をいう。   The “load application point” refers to a location where a load is applied.

また、脚部本体と、脚部本体に接続されかつ脚部本体の長手方向に延びるように設けられる補強部材とを備え、脚部本体と補強部材とは、脚部本体または補強部材の一端部を接地させた状態で脚部本体の他端部側から荷重を加えたとき、荷重が所定未満であれば両者間に隙間を有し、荷重が所定以上であれば隙間がなくなり両者が接触するように構成される、脚部が提供される。   The leg body includes a leg body and a reinforcing member connected to the leg body and extending in the longitudinal direction of the leg body. The leg body and the reinforcing member are one end of the leg body or the reinforcing member. When the load is applied from the other end side of the leg body with the grounded, there is a gap between them if the load is less than a predetermined value, and if there is a load greater than or equal to the gap there is no gap and the two are in contact A leg is provided that is configured as follows.

この発明では、脚部本体または補強部材の一端部を接地させた状態で脚部本体に荷重を加えたとき、所定以上の荷重が加わるまでは脚部本体と補強部材との間に隙間があるので、荷重の変化量に対する荷重作用点の変位量の割合は比較的大きく（脚部のばね定数は小さく）なる。そして、脚部本体に所定以上の荷重が加わると、脚部本体と補強部材との間の隙間はなくなり脚部本体と補強部材とは一体化されるので、荷重の変化量に対する荷重作用点の変位量の割合は比較的小さく（脚部のばね定数は大きく）なる。したがって、たとえばこの発明に係る３つ以上の脚部を無人飛行体に用い、無人飛行体を着地させるとき、加わる荷重が所定未満の着地初期では、脚部本体と補強部材との間に隙間があり、荷重の変化量に対する荷重作用点の変位量の割合が比較的大きくなるので、脚部が変形し易い。その結果、脚部と着地面との接触による衝撃を緩和でき、かつ着地面の凹凸を吸収して着地面の起伏に対する追従性を高めることができる。一方、加わる荷重が所定以上の着地完了時付近では、脚部本体と補強部材との間の隙間がなくなり脚部本体と補強部材とは一体化され、荷重の変化量に対する荷重作用点の変位量の割合が比較的小さくなるので、脚部が変形し難い。その結果、エネルギを吸収して大きな荷重に対処することができる。   In this invention, when a load is applied to the leg main body with one end of the leg main body or the reinforcing member grounded, there is a gap between the leg main body and the reinforcing member until a predetermined load or more is applied. Therefore, the ratio of the displacement amount of the load application point to the load change amount is relatively large (the spring constant of the leg portion is small). When a predetermined load or more is applied to the leg main body, the gap between the leg main body and the reinforcing member disappears and the leg main body and the reinforcing member are integrated. The rate of displacement is relatively small (the spring constant of the leg is large). Therefore, for example, when three or more legs according to the present invention are used for an unmanned aerial vehicle and the unmanned aerial vehicle is landed, there is a gap between the leg body and the reinforcing member at the initial landing when the applied load is less than a predetermined value. In addition, since the ratio of the amount of displacement of the load application point to the amount of change in load becomes relatively large, the leg portion is easily deformed. As a result, the impact due to the contact between the legs and the landing can be alleviated, and the unevenness of the landing can be absorbed to improve the followability to the undulation of the landing. On the other hand, in the vicinity of the completion of landing when the applied load exceeds a predetermined value, there is no gap between the leg main body and the reinforcing member, and the leg main body and the reinforcing member are integrated, and the displacement of the load acting point with respect to the load change amount. Since the ratio of is relatively small, the legs are difficult to deform. As a result, energy can be absorbed and a large load can be dealt with.

好ましくは、隙間は、補強部材の一端部側で脚部本体の長手方向に対して直交する方向に設けられ、補強部材は他端部側で脚部本体に接続される。この場合、補強部材の一端部側で脚部本体と補強部材との間に隙間を形成した状態で、脚部本体または補強部材の一端部を接地させ脚部本体に荷重を加えると、当該隙間が狭くなるように脚部本体が撓む。そして、荷重が所定以上になると、脚部本体と補強部材の一端部側との間の隙間がなくなり、両者が一体化する。このようにして、荷重の変化量に対する荷重作用点の変位量の割合が、荷重が所定未満である第１領域よりも荷重が所定以上である第２領域の方が小さくなる、脚部を容易に得ることができる。   Preferably, the gap is provided in a direction orthogonal to the longitudinal direction of the leg main body on one end side of the reinforcing member, and the reinforcing member is connected to the leg main body on the other end side. In this case, when a gap is formed between the leg main body and the reinforcing member on one end side of the reinforcing member and one end of the leg main body or the reinforcing member is grounded and a load is applied to the leg main body, the gap The leg main body bends so that becomes narrower. And if a load becomes more than predetermined, the clearance gap between a leg part main body and the one end part side of a reinforcement member will disappear, and both will be integrated. In this way, the ratio of the displacement amount of the load application point to the load change amount is smaller in the second region where the load is equal to or greater than the first region where the load is less than the predetermined value. Can get to.

また好ましくは、所定以上の荷重が加わることによって脚部本体と補強部材とが接触するそれぞれの接触面において、一方には凹部が形成されかつ他方には凹部に嵌まる凸部が形成される。この場合、脚部本体と補強部材とをより強く一体化できる。   Preferably, a concave portion is formed on one side and a convex portion that fits into the concave portion is formed on the other side of each contact surface where the leg main body and the reinforcing member come into contact with each other when a predetermined load or more is applied. In this case, the leg main body and the reinforcing member can be more strongly integrated.

さらに好ましくは、補強部材は、一端部側で脚部本体に接続されかつ他端部側で脚部本体に対して相対的に長手方向に摺動可能に設けられ、脚部本体は、補強部材の他端部を係止する係止部を有し、隙間は、補強部材の他端部と係止部との間に設けられる。この場合、補強部材の他端部と脚部本体の係止部との間に隙間を形成した状態で、脚部本体または補強部材の一端部を接地させ脚部本体に荷重を加えると、脚部本体は下方に押される。それに伴って、補強部材の他端部は、脚部本体に対して長手方向に摺動し、当該隙間が狭くなっていく。そして、荷重が所定以上になると、補強部材の他端部は脚部本体の係止部に係止され、脚部本体と補強部材の他端部との間の隙間がなくなり両者が一体化する。このようにして、荷重の変化量に対する荷重作用点の変位の割合が、荷重が所定未満である第１領域よりも荷重が所定以上である第２領域の方が小さくなる、脚部を容易に得ることができる。   More preferably, the reinforcing member is connected to the leg main body at one end side and is slidable in the longitudinal direction relative to the leg main body at the other end side. The other end portion of the reinforcing member is locked, and the gap is provided between the other end portion of the reinforcing member and the locking portion. In this case, when a gap is formed between the other end of the reinforcing member and the locking portion of the leg main body, if one end of the leg main body or the reinforcing member is grounded and a load is applied to the leg main body, The body part is pushed downward. Accordingly, the other end of the reinforcing member slides in the longitudinal direction with respect to the leg main body, and the gap becomes narrower. When the load becomes a predetermined value or more, the other end of the reinforcing member is locked to the locking portion of the leg main body, and there is no gap between the leg main body and the other end of the reinforcing member so that they are integrated. . In this way, the ratio of the displacement of the load application point to the amount of change in load is smaller in the second region where the load is greater than or equal to the first region where the load is less than the predetermined, and the legs can be easily Can be obtained.

好ましくは、脚部本体または補強部材の一端部を接地させた状態で補強部材は脚部本体の上側に位置する。この場合、補強部材を容易に交換できる。たとえばこの発明に係る３つ以上の脚部を無人飛行体に用い、無人飛行体が着地しているときに、補強部材を容易に交換できる。したがって、無人飛行体の重量や降下速度によって異なる着地時の衝撃に応じて、適切な機械的性質の補強部材に容易に変更できる。   Preferably, the reinforcing member is positioned on the upper side of the leg main body with one end of the leg main body or the reinforcing member grounded. In this case, the reinforcing member can be easily replaced. For example, when three or more legs according to the present invention are used for an unmanned aerial vehicle and the unmanned aerial vehicle is landing, the reinforcing member can be easily replaced. Therefore, it can be easily changed to a reinforcing member having an appropriate mechanical property in accordance with the impact upon landing that varies depending on the weight of the unmanned air vehicle and the descending speed.

また好ましくは、膨らんだ外形を有しかつ脚部本体と補強部材との間に貫通部が形成されるように補強部材の一端部と脚部本体の一端部とが接続される。この場合、補強部材または脚部本体の一端部付近を把持し易くなり把持部として機能させることができる。したがって、たとえばこのような脚部を有する無人飛行体を運搬する場合、補強部材または脚部本体の一端部付近を把持することによって円滑に作業を行うことができる。   Preferably, one end of the reinforcing member and one end of the leg main body are connected to each other so that a penetrating portion is formed between the leg main body and the reinforcing member. In this case, it becomes easier to grip the vicinity of one end of the reinforcing member or the leg main body, and it can function as a gripping portion. Therefore, for example, when an unmanned aerial vehicle having such a leg portion is transported, the work can be smoothly performed by gripping the vicinity of one end portion of the reinforcing member or the leg main body.

さらに好ましくは、補強部材の一端部と脚部本体の一端部とはプリロード（初期荷重）をかけて接続される。この場合、脚部本体に加わる荷重が所定未満の領域における、荷重の変化量に対する荷重作用点の変位量の割合（脚部のばね定数）を予め調整できる。   More preferably, the one end portion of the reinforcing member and the one end portion of the leg main body are connected by applying a preload (initial load). In this case, in the region where the load applied to the leg main body is less than a predetermined value, the ratio of the displacement amount of the load application point to the load change amount (the spring constant of the leg portion) can be adjusted in advance.

好ましくは、補強部材の一端部と脚部本体の一端部との接続部は曲面状に形成される。この場合、たとえばこのような脚部を有する無人飛行体を運搬用の荷台に積み下ろしするとき、無人飛行体が荷台上を摺動し易くなり、円滑に作業を行うことができる。   Preferably, the connection portion between the one end portion of the reinforcing member and the one end portion of the leg main body is formed in a curved shape. In this case, for example, when an unmanned aerial vehicle having such a leg is loaded onto a carrier bed, the unmanned aerial vehicle can easily slide on the cargo bed, and work can be performed smoothly.

また好ましくは、脚部本体は、一端部を接地させた状態で他端部側から荷重を加えたとき、荷重が大きくなるにしたがって一端部から他端部側により離れた箇所が接地するように弓状に構成される。この場合、弓状の脚部本体の一端部を接地させた状態で脚部本体に荷重を加えたとき、脚部本体に加えられた荷重が大きくなるにしたがって、脚部本体の接地箇所は、一端部から他端部側により離れた箇所に移動する（または広がる）。荷重が比較的小さい領域では、荷重の変化量に対する荷重作用点の変位量の割合は比較的大きくなる。一方、荷重が比較的大きい領域では、荷重の変化量に対する荷重作用点の変位量の割合は比較的小さくなる。したがって、たとえばこのような３つ以上の脚部を無人飛行体に用い、無人飛行体を着地させるとき、加わる荷重が比較的小さい着地初期では、脚部本体の一端部付近が接地し荷重の変化量に対する荷重作用点の変位量の割合が比較的大きくなるので、脚部が変形し易い。その結果、さらに、脚部と着地面との接触による衝撃を緩和でき、かつ着地面の凹凸を吸収して着地面の起伏に対する追従性を高めることができる。一方、加わる荷重が比較的大きい着地完了時付近では、脚部本体の接地箇所が他端部側に移動し（または広がり）荷重の変化量に対する荷重作用点の変位量の割合が比較的小さくなるので、脚部が変形し難い。その結果、さらに、エネルギを吸収して大きな荷重に対処することができる。このように、弓状の脚部本体を用いることによって、上述した脚部本体と補強部材とを用いる場合の作用効果が顕著となる。   Preferably, when the load is applied from the other end while the one end is grounded, the leg body is grounded so that the portion away from the one end is grounded as the load increases. Constructed in a bow shape. In this case, when a load is applied to the leg main body with one end of the arcuate leg main body grounded, as the load applied to the leg main body increases, It moves (or spreads) from one end to a location further away from the other end. In the region where the load is relatively small, the ratio of the displacement amount of the load application point to the load change amount is relatively large. On the other hand, in the region where the load is relatively large, the ratio of the displacement amount of the load application point to the load change amount is relatively small. Therefore, for example, when three or more legs are used for an unmanned air vehicle and landing on the unmanned air vehicle, at the initial landing when the applied load is relatively small, one end of the leg main body is grounded and the load changes. Since the ratio of the displacement amount of the load application point to the amount is relatively large, the leg portion is easily deformed. As a result, it is possible to further reduce the impact caused by the contact between the leg portion and the landing surface, and to absorb the unevenness of the landing surface, thereby improving the followability to the undulation of the landing surface. On the other hand, in the vicinity of the completion of landing where the applied load is relatively large, the ground contact portion of the leg main body moves (or spreads) to the other end side, and the ratio of the displacement amount of the load application point to the load variation amount becomes relatively small. As a result, the legs are difficult to deform. As a result, energy can be absorbed and a large load can be dealt with. As described above, by using the arcuate leg main body, the effect of using the above-described leg main body and the reinforcing member becomes remarkable.

また、上述の３つ以上の脚部と、各脚部が取り付けられるタンクとを備え、脚部の一端部がタンクより下方に位置するように各脚部がタンクに取り付けられる、脚部ユニットが提供される。   The leg unit includes three or more legs as described above and a tank to which each leg is attached, and each leg is attached to the tank so that one end of the leg is positioned below the tank. Provided.

この発明では、タンクが、散布物や燃料を収容する本来の機能だけではなく、３つ以上の脚部を支持しかつ連結する機能を果たす。   In this invention, the tank fulfills the function of supporting and connecting three or more legs as well as the original function of containing the spatter and fuel.

好ましくは、タンクと一体的に設けられかつ隣り合う脚部を連結する連結部材をさらに含む。この場合、タンクと一体的に形成された連結部材によって隣り合う脚部をさらに強く連結できる。   Preferably, it further includes a connecting member provided integrally with the tank and connecting adjacent leg portions. In this case, the adjacent leg portions can be further strongly connected by the connecting member formed integrally with the tank.

さらに、上述の３つ以上の脚部と、各脚部が取り付けられる飛行体本体とを備え、脚部の一端部が飛行体本体より下方に位置するように各脚部が飛行体本体に取り付けられる、無人飛行体が提供される。   In addition, the above-described three or more legs and a flying body to which each leg is attached are provided, and each leg is attached to the flying body so that one end of the leg is positioned below the flying body. An unmanned air vehicle is provided.

無人飛行体が着地するとき、着地面との接触による衝撃を緩和しかつ着地面の起伏に対する追従性を高めるとともに、大きな荷重に対処することが要求されるので、この発明は、無人飛行体に好適に用いることができる。   When an unmanned aerial vehicle lands, it is required to mitigate the impact caused by contact with the landing surface, increase the followability to the undulation of the landing surface, and cope with a large load. It can be used suitably.

好ましくは、各脚部が取り付けられるタンクをさらに含み、脚部の一端部がタンクより下方に位置するように各脚部がタンクに取り付けられる。この場合、散布物や燃料を収容するタンクによって各脚部をさらに強く連結できる。   Preferably, it further includes a tank to which each leg is attached, and each leg is attached to the tank so that one end of the leg is positioned below the tank. In this case, each leg part can be connected more strongly by the tank which accommodates a scattered matter and fuel.

また、一端部を接地させた状態で他端部側から荷重を加えたときさらに開脚するように末広がり状に配置される３つ以上の脚部と、各脚部を他端部側で相互に連結する連結部材と、連結部材より下方において各脚部の開脚部を他の少なくとも１つの脚部の開脚部に連結する伸縮可能な伸縮部材とを備え、連結部材と伸縮部材とは、各脚部の一端部を接地させた状態で各脚部の他端部側から荷重を加えたとき、荷重が所定未満であれば両者間に隙間を有し、荷重が所定以上であれば両者が接触するように構成される、脚部ユニットが提供される。   In addition, when one end is grounded and a load is applied from the other end, three or more legs are arranged so as to open further and the legs are mutually connected at the other end. And a telescopic member that connects the open leg portion of each leg to the open leg portion of at least one other leg portion below the joint member, and the connection member and the telescopic member are When a load is applied from the other end of each leg with one end of each leg grounded, there is a gap between them if the load is less than a predetermined value, and if the load is greater than or equal to a predetermined value A leg unit is provided that is configured to be in contact with each other.

この発明では、各脚部の一端部を接地させた状態で各脚部に他端部側から荷重を加えると、各脚部の開脚部が外側に開いていく。これに伴って、連結部材より下方に設けられる伸縮部材が外側に引っ張られるとともに、連結部材が伸縮部材側に相対的に下降し、やがて伸縮部材に接触する。所定以上の荷重が加わるまでは連結部材と伸縮部材との間に隙間があるので、荷重は脚部によって支持され、荷重の変化量に対する荷重作用点の変位量の割合は比較的大きく（脚部のばね定数は小さく）なる。そして、所定以上の荷重が加わると、連結部材と伸縮部材とは接触し、荷重は脚部だけではなく伸縮部材によっても支持されるので、荷重の変化量に対する荷重作用点の変位量の割合は比較的小さく（脚部と伸縮部材とを合わせたばね定数は大きく）なる。したがって、たとえばこの発明に係る脚部ユニットを無人飛行体に用い、無人飛行体を着地させるとき、加わる荷重が所定未満の着地初期では、連結部材と伸縮部材との間に隙間があり、荷重の変化量に対する荷重作用点の変位量の割合が比較的大きくなるので、脚部が変形し易い。その結果、脚部と着地面との接触による衝撃を緩和でき、かつ着地面の凹凸を吸収して着地面の起伏に対する追従性を高めることができる。一方、加わる荷重が所定以上の着地完了時付近では、連結部材と伸縮部材とが接触し、荷重の変化量に対する荷重作用点の変位量の割合が比較的小さくなるので、脚部が変形し難い。その結果、エネルギを吸収して大きな荷重に対処することができる。   In the present invention, when a load is applied to each leg portion from the other end side in a state where one end portion of each leg portion is grounded, the open leg portion of each leg portion opens outward. Along with this, the elastic member provided below the connecting member is pulled outward, and the connecting member relatively descends toward the elastic member, and eventually comes into contact with the elastic member. There is a gap between the connecting member and the expansion / contraction member until a predetermined load is applied, so the load is supported by the legs, and the ratio of the displacement of the load application point to the amount of change in the load is relatively large (the legs The spring constant is small). When a load exceeding a predetermined value is applied, the connecting member and the expansion / contraction member come into contact with each other, and the load is supported not only by the leg portion but also by the expansion / contraction member. It is relatively small (the spring constant of the leg portion and the elastic member is large). Therefore, for example, when the leg unit according to the present invention is used for an unmanned aerial vehicle and the unmanned aerial vehicle is landed, there is a gap between the connecting member and the telescopic member at the initial landing when the applied load is less than a predetermined value. Since the ratio of the amount of displacement of the load application point to the amount of change is relatively large, the leg portion is easily deformed. As a result, the impact due to the contact between the legs and the landing can be alleviated, and the unevenness of the landing can be absorbed to improve the followability to the undulation of the landing. On the other hand, in the vicinity of the completion of landing when the applied load exceeds a predetermined value, the connecting member and the expansion / contraction member are in contact with each other, and the ratio of the displacement amount of the load acting point to the load change amount is relatively small, so the leg portion is difficult to deform. . As a result, energy can be absorbed and a large load can be dealt with.

この発明によれば、着地面との接触による衝撃を緩和しかつ着地面の起伏に対する追従性を高めるとともに、大きな荷重に対処することが可能な、脚部、脚部ユニットおよび無人飛行体が得られる。   According to the present invention, a leg portion, a leg unit, and an unmanned air vehicle capable of alleviating an impact caused by contact with the landing surface and improving followability to the undulation of the landing surface and capable of handling a large load are obtained. It is done.

この発明の一実施形態に係るマルチコプタを示す斜視図である。1 is a perspective view showing a multicopter according to an embodiment of the present invention. 図１の実施形態に係るマルチコプタを示し、（ａ）は正面図解図、（ｂ）は側面図解図である。The multicopter which concerns on embodiment of FIG. 1 is shown, (a) is a front solution figure, (b) is a side view solution figure. 脚部ユニットの一例を示す斜視図である。It is a perspective view which shows an example of a leg part unit. 脚部の一例を示し、（ａ）は側面図、（ｂ）は斜視図である。An example of a leg part is shown, (a) is a side view, (b) is a perspective view. 図４（ａ）のＡ−Ａ端面を示す端面図である。It is an end elevation which shows the AA end surface of Fig.4 (a). 脚部に加わる荷重と荷重作用点の変位量との関係を示すグラフである。It is a graph which shows the relationship between the load added to a leg part, and the displacement amount of a load action point. 脚部に加わる荷重の増加に伴う脚部の接地状態の変遷を示す図解図である。It is an illustration figure which shows the transition of the ground contact state of the leg part with the increase in the load added to a leg part. 脚部ユニットの他の例を示す図解図である。It is an illustration figure which shows the other example of a leg part unit. 脚部の先端部の一例を示す図解図である。It is an illustration figure which shows an example of the front-end | tip part of a leg part. 脚部の他の例を示し、（ａ）は側面図、（ｂ）は斜視図である。The other example of a leg part is shown, (a) is a side view, (b) is a perspective view. 脚部のその他の例を示し、（ａ）は側面図、（ｂ）は斜視図である。The other example of a leg part is shown, (a) is a side view, (b) is a perspective view. （ａ）は図１１（ａ）のＢ−Ｂ端面を示す端面図であり、（ｂ）は図１１（ｂ）において一点鎖線で囲んだ部分を示す拡大図である。FIG. 12A is an end view showing the BB end face of FIG. 11A, and FIG. 11B is an enlarged view showing a portion surrounded by an alternate long and short dash line in FIG. 脚部ユニットのその他の例を示す斜視図である。It is a perspective view which shows the other example of a leg part unit. 図１３の脚部ユニットを示し、（ａ）はタンクと伸縮部材との間に隙間がある状態を示す図解図、（ｂ）はタンクと伸縮部材との間に隙間がない状態を示す図解図である。The leg unit of FIG. 13 is shown, (a) is an illustrative view showing a state where there is a gap between the tank and the elastic member, (b) is an illustrative view showing a state where there is no gap between the tank and the elastic member. It is.

以下、図面を参照してこの発明の実施形態について説明する。ここでは、この発明の一実施形態に係る脚部３８を、無人飛行体の一例であるマルチコプタ１０に適用した場合について説明する。   Embodiments of the present invention will be described below with reference to the drawings. Here, the case where the leg part 38 which concerns on one Embodiment of this invention is applied to the multicopter 10 which is an example of an unmanned air vehicle is demonstrated.

図１および図２を参照して、この発明の一実施形態のマルチコプタ１０は、主支持部１２を含む。主支持部１２は、円板状のハブ部１４と、複数（この実施形態では、６個）の円柱状のスポーク部１６とを含む。６個のスポーク部１６は、ハブ部１４の側面において周方向に略等間隔（略６０度間隔）をあけて設けられ、かつ放射状に延びるように形成される。各スポーク部１６の先端部の上方には、たとえばモータからなる駆動源１８と、シングルロータユニット２０とが設けられる。シングルロータユニット２０は、ロータ支持部２０ａと、シングルロータ２０ｂとを含む。ロータ支持部２０ａは、スポーク部１６の先端部の上方において上下方向に延び、駆動源１８によって回転駆動される。シングルロータ２０ｂは、ロータ支持部２０ａの上端部に支持され、ロータ支持部２０ａとともに回転する。このようにして、マルチコプタ本体Ｍが構成される。   Referring to FIGS. 1 and 2, a multicopter 10 according to an embodiment of the present invention includes a main support portion 12. The main support portion 12 includes a disk-shaped hub portion 14 and a plurality of (six in this embodiment) columnar spoke portions 16. The six spoke portions 16 are provided on the side surface of the hub portion 14 at substantially equal intervals (approximately 60 ° intervals) in the circumferential direction, and are formed to extend radially. A drive source 18 made of, for example, a motor and a single rotor unit 20 are provided above the tip of each spoke portion 16. Single rotor unit 20 includes a rotor support portion 20a and a single rotor 20b. The rotor support portion 20 a extends in the vertical direction above the tip portion of the spoke portion 16 and is rotationally driven by the drive source 18. The single rotor 20b is supported by the upper end part of the rotor support part 20a, and rotates with the rotor support part 20a. In this way, the multicopter body M is configured.

また、マルチコプタ１０は、圃場に薬剤を散布するための散布装置２２、無線信号を送受信するためのアンテナ２４、およびマルチコプタ１０の動作を制御するための制御装置（図示せず）を備える。ここで言う薬剤とは、除草剤、肥料、水などの液状または粒状の圃場に散布するものを意味する。アンテナ２４は、主支持部１２の中央部から上方に延び、制御装置は、主支持部１２内に収容される。散布装置２２は、薬剤を収容するタンク２６と、複数（この実施形態では、２個）のアーム状の配管２８ａ，２８ｂと、薬剤を吐出するための複数（この実施形態では、２個）のノズル３０ａ，３０ｂと、タンク２６内の薬剤をノズル３０ａ，３０ｂに圧送するポンプ３２とを含み、主支持部１２の下方に設けられる。タンク２６ひいては散布装置２２は、ハブ部１４の中央部から下方に延びる支持部３４によって支持される。配管２８ａ，２８ｂは、それぞれ略Ｌ字状に形成され、タンク２６の側面から放射状かつ互いに正反対方向に延びる。ノズル３０ａ，３０ｂはそれぞれ、配管２８ａ，２８ｂの先端部に設けられる。ポンプ３２は、タンク２６の側面に設けられる。タンク２６内に収容された薬剤は、配管２８ａ，２８ｂを介して、ノズル３０ａ，３０ｂから下方に向かって吐出される。 In addition, the multicopter 10 includes a spraying device 22 for spraying medicine on a farm field, an antenna 24 for transmitting and receiving radio signals, and a control device (not shown) for controlling the operation of the multicopter 10. The chemical | medical agent said here means what is spread | dispersed to liquid or granular fields, such as a herbicide, a fertilizer, and water. The antenna 24 extends upward from the central portion of the main support portion 12, and the control device is accommodated in the main support portion 12. The spraying device 22 includes a tank 26 for storing a medicine, a plurality (two in this embodiment) of arm-like pipes 28a and 28b, and a plurality (two in this embodiment) for discharging medicine. The nozzles 30a and 30b and a pump 32 that pumps the medicine in the tank 26 to the nozzles 30a and 30b are provided below the main support portion 12. The tank 26 and thus the spraying device 22 are supported by a support portion 34 that extends downward from the central portion of the hub portion 14. The pipes 28a and 28b are each formed in a substantially L shape, and extend radially from the side surface of the tank 26 in opposite directions. The nozzles 30a and 30b are provided at the tip portions of the pipes 28a and 28b, respectively. The pump 32 is provided on the side surface of the tank 26. The chemical | medical agent accommodated in the tank 26 is discharged toward the downward direction from the nozzles 30a and 30b via piping 28a and 28b.

さらに、マルチコプタ１０は、脚部ユニット３６を含む。図３をも参照して、脚部ユニット３６は、複数（この実施形態では、４個）の脚部３８、隣り合う２つの脚部３８を連結する一対の連結部材４０、および隣り合う２つの脚部３８を連結する一対の連結部材４２を含む。脚部ユニット３６は、複数（この実施形態では、４個）の接続部材４４を介して、ハブ部１４に連結される。各接続部材４４は、対応する脚部３８の上端部とハブ部１４の下面とを連結する。これによって、脚部３８の一端部（下端部）がマルチコプタ本体Ｍより下方に位置するように、各脚部３８がマルチコプタ本体Ｍに取り付けられる。   Further, the multicopter 10 includes a leg unit 36. Referring also to FIG. 3, the leg unit 36 includes a plurality of (four in this embodiment) leg portions 38, a pair of connecting members 40 that connect two adjacent leg portions 38, and two adjacent two leg portions 38. A pair of connecting members 42 for connecting the leg portions 38 is included. The leg unit 36 is coupled to the hub unit 14 via a plurality of (four in this embodiment) connection members 44. Each connection member 44 connects the upper end portion of the corresponding leg portion 38 and the lower surface of the hub portion 14. Accordingly, each leg portion 38 is attached to the multicopter main body M so that one end portion (lower end portion) of the leg portion 38 is positioned below the multicopter main body M.

図４および図５を参照して、脚部３８について説明する。   The leg part 38 is demonstrated with reference to FIG. 4 and FIG.

脚部３８は、脚部本体４６と補強部材４８とを含む。   The leg portion 38 includes a leg body 46 and a reinforcing member 48.

脚部本体４６は、たとえば衝撃に強く割れにくい超高分子量ポリエチレンからなり、略弓状に形成され、本体中部５０と、本体中部５０の上端に繋がる本体上部５２と、本体中部５０の下端に繋がる本体下部５４とを含む。本体中部５０および本体下部５４のうち補強部材４８と対向する面の幅方向中央部には、本体中部５０の上端から本体下部５４の下端にかけて溝状の凹部５６が形成される。また、本体中部５０の上端部には、補強部材４８の上端部を取り付けるための貫通孔５８が形成される。本体下部５４の下端部には、補強部材４８の下端部を取り付けるための貫通孔６０が形成される。   The leg main body 46 is made of, for example, an ultra-high molecular weight polyethylene that is strong against impact and is not easily broken, and is formed in a substantially bow shape. Main body lower part 54. A groove-shaped concave portion 56 is formed from the upper end of the main body middle portion 50 to the lower end of the lower body portion 54 at the center in the width direction of the surface of the main body middle portion 50 and the lower body portion 54 facing the reinforcing member 48. Further, a through hole 58 for attaching the upper end portion of the reinforcing member 48 is formed at the upper end portion of the main body middle portion 50. A through hole 60 for attaching the lower end portion of the reinforcing member 48 is formed at the lower end portion of the main body lower portion 54.

補強部材４８は、たとえば曲げ強度に優れたポリアミドからなり、部材上部６２と、部材上部６２の下端に繋がる部材下部６４とを含む。部材上部６２は、本体中部５０に沿いかつ本体中部５０と略同じ長さに形成される。部材上部６２の上端部には、本体中部５０に取り付けるための貫通孔（図示せず）が形成される。部材下部６４は、部材上部６２の下端から折れ曲がって略Ｖ字状に形成され、部材下部６４の先端部は曲面状に形成される。部材上部６２および部材下部６４のうち脚部本体４６と対向する面の幅方向中央部には、部材上部６２の上端から部材下部６４の下端にかけて凸部６６が形成される。凸部６６は、凹部５６に出し入れ可能な寸法を有する（図５参照）。凸部６６のうち、部材下部６４の中央部に形成された部分の縁部は、把持し易いように波状に形成される。補強部材４８（凸部６６）の下端部には、本体下部５４を取り付けるための貫通孔（図示せず）が形成される。   The reinforcing member 48 is made of, for example, polyamide excellent in bending strength, and includes a member upper part 62 and a member lower part 64 connected to the lower end of the member upper part 62. The member upper part 62 is formed along the main body middle part 50 and substantially the same length as the main body middle part 50. A through hole (not shown) for attaching to the middle part 50 of the main body is formed at the upper end of the member upper part 62. The member lower portion 64 is bent from the lower end of the member upper portion 62 and formed in a substantially V shape, and the tip portion of the member lower portion 64 is formed in a curved surface shape. A convex portion 66 is formed from the upper end of the member upper portion 62 to the lower end of the member lower portion 64 at the central portion in the width direction of the surface of the member upper portion 62 and the member lower portion 64 facing the leg main body 46. The convex portion 66 has a dimension that can be taken in and out of the concave portion 56 (see FIG. 5). The edge part of the part formed in the center part of the member lower part 64 among the convex parts 66 is formed in a wave shape so that it can be easily gripped. A through hole (not shown) for attaching the main body lower portion 54 is formed at the lower end portion of the reinforcing member 48 (convex portion 66).

そして、脚部本体４６の凹部５６に補強部材４８の凸部６６が嵌まり、かつ部材下部６４の先端部が本体下部５４の先端部を覆うように位置決めされた状態で、脚部本体４６の貫通孔５８および補強部材４８の上端部の貫通孔にボルトなどの締結部材（図示せず）が通されて固定され、脚部本体４６の貫通孔６０および補強部材４８の下端部の貫通孔にボルトなどの締結部材（図示せず）が通されて固定される。これによって、補強部材４８は脚部本体４６の長手方向に延びるように設けられ、脚部本体４６と補強部材４８とが一端部（下端部）側と他端部（上端部）側とで接続される。   Then, in a state in which the convex portion 66 of the reinforcing member 48 is fitted in the concave portion 56 of the leg main body 46 and the distal end portion of the member lower portion 64 is positioned so as to cover the distal end portion of the main body lower portion 54, A fastening member (not shown) such as a bolt is passed through and fixed to the through hole 58 and the through hole at the upper end of the reinforcing member 48, and is fixed to the through hole 60 of the leg main body 46 and the through hole at the lower end of the reinforcing member 48. A fastening member (not shown) such as a bolt is passed and fixed. Accordingly, the reinforcing member 48 is provided so as to extend in the longitudinal direction of the leg main body 46, and the leg main body 46 and the reinforcing member 48 are connected at one end (lower end) side and the other end (upper end) side. Is done.

隣り合う脚部３８の本体中部５０の上端部（貫通孔５８近傍）同士が、リブ状の連結部材４０または４２によって連結される。また、各脚部３８の本体上部５２の上端部が、接続部材４４を介して、マルチコプタ本体Ｍに連結される。脚部３８と連結部材４０，４２および接続部材４４とは、たとえばボルトなどの締結部材によって接続される。   The upper end portions (near the through holes 58) of the main body middle portions 50 of the adjacent leg portions 38 are connected to each other by a rib-shaped connecting member 40 or 42. Further, the upper end portion of the main body upper portion 52 of each leg portion 38 is coupled to the multicopter main body M via the connection member 44. The leg portion 38, the connecting members 40 and 42, and the connecting member 44 are connected by a fastening member such as a bolt, for example.

このような脚部３８では、脚部本体４６または補強部材４８の一端部を接地させた状態で補強部材４８は脚部本体４６の上側に位置する。補強部材４８の一端部と脚部本体４６の一端部とは、プリロードをかけて接続され（図４（ａ）参照）、また、膨らんだ外形を有しかつ脚部本体４６と補強部材４８との間に貫通部６８が形成されるように接続される。補強部材４８の一端部と脚部本体４６の一端部との接続部は曲面状に形成される。また、脚部３８に所定以上の荷重が加わることによって脚部本体４６と補強部材４８とが接触するそれぞれの接触面において、脚部本体４６側の面には凹部５６が形成され、かつ補強部材４８側の面には凹部５６に嵌まる凸部６６が形成される。なお、図４（ａ）に示す本体下部５４において、一点鎖線は脚部本体４６の貫通孔６０と補強部材４８の下端部の貫通孔との組付前の形状を示し、実線は組付時の形状を示す。   In such a leg portion 38, the reinforcing member 48 is positioned on the upper side of the leg main body 46 with one end of the leg main body 46 or the reinforcing member 48 grounded. One end of the reinforcing member 48 and one end of the leg main body 46 are connected by preloading (see FIG. 4A), and have a bulging outer shape and the leg main body 46 and the reinforcing member 48. So that a through-hole 68 is formed between them. A connecting portion between one end of the reinforcing member 48 and one end of the leg main body 46 is formed in a curved surface shape. Further, in each contact surface where the leg main body 46 and the reinforcing member 48 come into contact with each other when a predetermined load or more is applied to the leg 38, a concave portion 56 is formed on the surface on the leg main body 46 side, and the reinforcing member A convex portion 66 that fits into the concave portion 56 is formed on the surface on the 48 side. 4A, the alternate long and short dash line indicates the shape of the through hole 60 of the leg main body 46 and the through hole at the lower end of the reinforcing member 48 before assembling, and the solid line indicates when assembled. The shape of is shown.

このようなマルチコプタ１０における静荷重試験の結果、図６に示すような脚部３８に加わる荷重と荷重作用点Ｘの変位量との関係が得られた。この試験では、各脚部３８の補強部材４８の一端部を接地させた状態で、マルチコプタ１０に上方から荷重を加えていき、荷重作用点Ｘの鉛直方向への変位量を測定した。この実施形態において、荷重作用点Ｘは、脚部本体４６の他端部側の本体上部５２と接続部材４４との接続部である（図４（ａ）参照）。図６における横軸の荷重は、４個の脚部３８に加えられた総荷重である。したがって、各脚部３８の荷重作用点Ｘにかかる荷重は、「４個の脚部３８に加えられた総荷重」の４分の１とみなすことができる。   As a result of the static load test in the multicopter 10, the relationship between the load applied to the leg portion 38 and the displacement amount of the load application point X as shown in FIG. 6 was obtained. In this test, a load was applied to the multicopter 10 from above in a state where one end of the reinforcing member 48 of each leg portion 38 was grounded, and the amount of displacement of the load application point X in the vertical direction was measured. In this embodiment, the load application point X is a connection portion between the main body upper portion 52 on the other end side of the leg main body 46 and the connection member 44 (see FIG. 4A). The load on the horizontal axis in FIG. 6 is the total load applied to the four legs 38. Therefore, the load applied to the load application point X of each leg portion 38 can be regarded as a quarter of the “total load applied to the four leg portions 38”.

図６および図７を参照して、荷重がゼロである点Ｐ１では、図７（ａ）に示すように、補強部材４８の下端部が接地し、脚部本体４６と補強部材４８との間には隙間Ｃ１がある。図５を参照して、隙間Ｃ１は、補強部材４８の一端部側で脚部本体４６の長手方向に対して直交する方向に、かつ凹部５６と凸部６６との間に設けられる。この実施形態では、荷重がゼロであっても、凸部６６は凹部５６に僅かに挿入されている。これによって、荷重が加わったときに凸部６６と凹部５６との嵌合が外れることを防止できる。荷重が１７ｋｇｆとなる点Ｐ２では、図７（ｂ）に示すように、補強部材４８の下端部と脚部本体４６の本体下部５４とが接地し、脚部本体４６と補強部材４８との間の隙間Ｃ１はなくなる。この試験では、１７／４ｋｇｆが、各荷重作用点Ｘに加わる所定の荷重に相当する。荷重が略４６ｋｇｆ（通常使用域の上限）となる点Ｐ３では、図７（ｃ）に示すように、隙間Ｃ１がない状態で、補強部材４８は接地せずかつ脚部本体４６の本体中部５０の下端部が接地する。荷重が略５７ｋｇｆ（補強部材破損域）となる点Ｐ４では、図７（ｄ）に示すように、隙間Ｃ１がない状態で、脚部本体４６の本体中部５０が広く接地する。点Ｐ４では、連結部材４０，４２の変形も大きくなる。   6 and 7, at the point P1 where the load is zero, as shown in FIG. 7A, the lower end portion of the reinforcing member 48 is grounded, and the space between the leg main body 46 and the reinforcing member 48 is reached. There is a gap C1. With reference to FIG. 5, the gap C <b> 1 is provided on one end side of the reinforcing member 48 in a direction orthogonal to the longitudinal direction of the leg main body 46 and between the concave portion 56 and the convex portion 66. In this embodiment, the convex portion 66 is slightly inserted into the concave portion 56 even when the load is zero. Accordingly, it is possible to prevent the fitting between the convex portion 66 and the concave portion 56 from being released when a load is applied. At the point P2 where the load is 17 kgf, as shown in FIG. 7B, the lower end portion of the reinforcing member 48 and the main body lower portion 54 of the leg main body 46 are grounded, and between the leg main body 46 and the reinforcing member 48. The gap C1 is eliminated. In this test, 17/4 kgf corresponds to a predetermined load applied to each load application point X. At a point P3 where the load is approximately 46 kgf (the upper limit of the normal use range), as shown in FIG. 7C, the reinforcing member 48 is not grounded and the middle part 50 of the leg body 46 is in a state where there is no gap C1. The lower end of the ground. At a point P4 where the load is approximately 57 kgf (reinforcing member breakage region), as shown in FIG. 7D, the main body middle part 50 of the leg main body 46 is widely grounded without the gap C1. At the point P4, the deformation of the connecting members 40 and 42 also increases.

このように、脚部本体４６において、他端部側から荷重を加えたとき、荷重が大きくなるにしたがって一端部から他端部側により離れた箇所が接地する。また、補強部材４８の一端部を接地させた状態で脚部本体４６の他端部側から荷重を加えたとき、各脚部３８において荷重作用点Ｘに加わる荷重が所定未満であれば脚部本体４６と補強部材４８との間に隙間Ｃ１があるが、荷重が所定以上であれば隙間Ｃ１がなくなり両者が接触し一体化する。したがって、脚部３８の一端部を接地させた状態で他端部側から荷重を加えたとき、脚部３８に加わる荷重の変化量に対する荷重作用点Ｘの変位量の割合（変位量／荷重変化量：図６に示す特性曲線の傾き）は、各脚部３８に加わる荷重が所定未満である第１領域Ｒ１よりも、荷重が所定以上である第２領域Ｒ２の方が小さくなる。言い換えれば、荷重が比較的小さい第１領域Ｒ１より荷重が比較的大きい第２領域Ｒ２の方が、脚部３８のばね定数が大きくなる。   As described above, in the leg main body 46, when a load is applied from the other end side, a portion that is farther from the one end portion to the other end side is grounded as the load increases. Further, when a load is applied from the other end side of the leg main body 46 with one end of the reinforcing member 48 being grounded, if the load applied to the load acting point X in each leg 38 is less than a predetermined value, the leg There is a gap C1 between the main body 46 and the reinforcing member 48. However, if the load is equal to or greater than a predetermined value, the gap C1 disappears and the two come into contact with each other. Therefore, when a load is applied from the other end with one end of the leg 38 grounded, the ratio of the displacement at the load application point X to the change in the load applied to the leg 38 (displacement / load change). The amount: the slope of the characteristic curve shown in FIG. 6 is smaller in the second region R2 in which the load is equal to or greater than the predetermined value than in the first region R1 in which the load applied to each leg portion 38 is less than the predetermined value. In other words, the spring constant of the leg portion 38 is larger in the second region R2 having a relatively large load than in the first region R1 having a relatively small load.

このようなマルチコプタ１０によれば、各脚部３８において、補強部材４８の一端部を接地させた状態で脚部本体４６に荷重を加えたとき、所定以上の荷重が加わるまでは脚部本体４６と補強部材４８との間に隙間Ｃ１があるので、荷重の変化量に対する荷重作用点Ｘの変位量の割合は比較的大きく（脚部３８のばね定数は小さく）なる。そして、脚部本体４６に所定以上の荷重が加わると、脚部本体４６と補強部材４８との間の隙間Ｃ１はなくなり脚部本体４６と補強部材４８とは一体化されるので、荷重の変化量に対する荷重作用点Ｘの変位量の割合は比較的小さく（脚部３８のばね定数は大きく）なる。したがって、マルチコプタ１０を着地させるとき、各脚部３８に加わる荷重が所定未満の着地初期では、脚部本体４６と補強部材４８との間に隙間Ｃ１があり、荷重の変化量に対する荷重作用点Ｘの変位量の割合が比較的大きくなるので、脚部３８が変形し易い。その結果、脚部３８と着地面との接触による衝撃を緩和でき、かつ着地面の凹凸を吸収して着地面の起伏に対する追従性を高めることができる。一方、各脚部３８に加わる荷重が所定以上の着地完了時付近では、脚部本体４６と補強部材４８との間の隙間Ｃ１がなくなり脚部本体４６と補強部材４８とは一体化され、荷重の変化量に対する荷重作用点Ｘの変位量の割合が比較的小さくなるので、脚部３８が変形し難い。その結果、エネルギを吸収して大きな荷重に対処することができる。   According to such a multicopter 10, when a load is applied to the leg main body 46 in a state where one end of the reinforcing member 48 is grounded in each leg 38, the leg main body 46 is applied until a predetermined load or more is applied. And the reinforcing member 48, the ratio of the displacement amount of the load application point X to the load change amount is relatively large (the spring constant of the leg portion 38 is small). When a predetermined load or more is applied to the leg main body 46, the gap C1 between the leg main body 46 and the reinforcing member 48 disappears, and the leg main body 46 and the reinforcing member 48 are integrated. The ratio of the displacement amount of the load application point X to the amount is relatively small (the spring constant of the leg portion 38 is large). Accordingly, when the multicopter 10 is landed, at the initial landing when the load applied to each leg portion 38 is less than a predetermined value, there is a gap C1 between the leg main body 46 and the reinforcing member 48, and the load application point X with respect to the load change amount. Since the ratio of the displacement amount is relatively large, the leg portion 38 is easily deformed. As a result, the impact caused by the contact between the leg portion 38 and the landing can be mitigated, and the unevenness of the landing can be absorbed to improve the followability to the undulation of the landing. On the other hand, in the vicinity of the completion of landing where the load applied to each leg 38 is not less than a predetermined value, the gap C1 between the leg main body 46 and the reinforcing member 48 disappears, and the leg main body 46 and the reinforcing member 48 are integrated. Since the ratio of the amount of displacement of the load application point X with respect to the amount of change is relatively small, the leg portion 38 is difficult to deform. As a result, energy can be absorbed and a large load can be dealt with.

また、弓状の脚部本体４６の一端部を接地させた状態で脚部本体４６に荷重を加えたとき、脚部本体４６に加えられた荷重が大きくなるにしたがって、脚部本体４６の接地箇所は、一端部から他端部側により離れた箇所に移動する（または広がる）。荷重が比較的小さい領域では、荷重の変化量に対する荷重作用点Ｘの変位量の割合は比較的大きくなる。一方、荷重が比較的大きい領域では、荷重の変化量に対する荷重作用点Ｘの変位量の割合は比較的小さくなる。したがって、脚部３８を有するマルチコプタ１０を着地させるとき、加わる荷重が比較的小さい着地初期では、脚部本体４６の一端部付近が接地し荷重の変化量に対する荷重作用点Ｘの変位量の割合が比較的大きくなるので、脚部３８が変形し易い。その結果、さらに、脚部３８と着地面との接触による衝撃を緩和でき、かつ着地面の凹凸を吸収して着地面の起伏に対する追従性を高めることができる。一方、加わる荷重が比較的大きい着地完了時付近では、脚部本体４６の接地箇所が他端部側に移動し（または広がり）荷重の変化量に対する荷重作用点Ｘの変位量の割合が比較的小さくなるので、脚部３８が変形し難い。その結果、さらに、エネルギを吸収して大きな荷重に対処することができる。このように、弓状の脚部本体４６を用いることによって、上述した作用効果が顕著となる。   Further, when a load is applied to the leg main body 46 with one end of the arcuate leg main body 46 grounded, the grounding of the leg main body 46 increases as the load applied to the leg main body 46 increases. The location moves (or spreads) from one end to a location further away from the other end. In the region where the load is relatively small, the ratio of the displacement amount of the load application point X to the load variation amount is relatively large. On the other hand, in the region where the load is relatively large, the ratio of the displacement amount of the load application point X to the load change amount is relatively small. Therefore, when the multicopter 10 having the leg portion 38 is landed, in the initial landing where the applied load is relatively small, the vicinity of one end portion of the leg main body 46 is grounded, and the ratio of the displacement amount of the load acting point X to the load change amount is Since it becomes comparatively large, the leg part 38 is easy to deform | transform. As a result, it is possible to further reduce the impact caused by the contact between the leg portion 38 and the landing surface, and to absorb the unevenness of the landing surface, thereby improving the followability to the undulation of the landing surface. On the other hand, in the vicinity of the completion of landing where the applied load is relatively large, the ground contact portion of the leg main body 46 moves (or spreads) to the other end side, and the ratio of the displacement amount of the load application point X to the load change amount is relatively high. Since it becomes small, the leg part 38 is hard to deform | transform. As a result, energy can be absorbed and a large load can be dealt with. Thus, by using the arcuate leg main body 46, the above-described operational effects become remarkable.

脚部本体４６または補強部材４８の一端部を接地させた状態で補強部材４８は脚部本体４６の上側に位置するので、補強部材４８を容易に交換できる。したがって、マルチコプタ１０が着地しているときに、補強部材４８を容易に交換でき、マルチコプタ１０の重量や降下速度によって異なる着地時の衝撃に応じて、適切な機械的性質の補強部材に容易に変更できる。   Since the reinforcing member 48 is positioned above the leg main body 46 with one end of the leg main body 46 or the reinforcing member 48 grounded, the reinforcing member 48 can be easily replaced. Therefore, when the multicopter 10 is landing, the reinforcing member 48 can be easily replaced, and can be easily changed to a reinforcing member having appropriate mechanical properties according to the impact at the time of landing that varies depending on the weight of the multicopter 10 and the descent speed. it can.

膨らんだ外形を有しかつ脚部本体４６と補強部材４８との間に貫通部６８が形成されるように補強部材４８の一端部と脚部本体４６の一端部とが接続されるので、補強部材４８または脚部本体４６の一端部付近を把持し易くなり把持部として機能させることができる。したがって、マルチコプタ１０を運搬する場合、補強部材４８または脚部本体４６の一端部付近を把持することによって円滑に作業を行うことができる。   Since one end of the reinforcing member 48 and one end of the leg main body 46 are connected to each other so that the penetrating portion 68 is formed between the leg main body 46 and the reinforcing member 48, the outer shape is reinforced. The member 48 or the vicinity of one end of the leg main body 46 can be easily gripped, and the member 48 can function as a gripping portion. Therefore, when the multicopter 10 is transported, the work can be smoothly performed by gripping the vicinity of one end of the reinforcing member 48 or the leg main body 46.

補強部材４８の一端部と脚部本体４６の一端部とはプリロード（初期荷重）をかけて接続されるので、脚部本体４６に加わる荷重が所定未満の領域における、荷重の変化量に対する荷重作用点Ｘの変位量の割合（脚部３８のばね定数）を予め調整できる。   Since one end portion of the reinforcing member 48 and one end portion of the leg main body 46 are connected by applying a preload (initial load), a load effect on the load change amount in a region where the load applied to the leg main body 46 is less than a predetermined value. The ratio of the displacement amount of the point X (the spring constant of the leg portion 38) can be adjusted in advance.

補強部材４８の一端部と脚部本体４６の一端部との接続部は曲面状に形成されるので、マルチコプタ１０を運搬用の荷台に積み下ろしするとき、マルチコプタ１０が荷台上を摺動し易くなり、円滑に作業を行うことができる。   Since the connecting portion between the one end of the reinforcing member 48 and the one end of the leg main body 46 is formed in a curved surface, when the multicopter 10 is loaded and unloaded on the loading platform, the multicopter 10 can easily slide on the loading platform. Can work smoothly.

マルチコプタ１０が着地するとき、着地面との接触による衝撃を緩和しかつ着地面の起伏に対する追従性を高めるとともに、大きな荷重に対処することが要求されるので、脚部３８は、マルチコプタ１０に好適に用いることができる。   When the multicopter 10 lands, it is required to mitigate the impact caused by contact with the landing surface, increase the followability to the undulation of the landing surface, and cope with a large load. Therefore, the leg portion 38 is suitable for the multicopter 10. Can be used.

以上の作用効果は、後述する図１０に示す脚部３８ａにおいても同様に奏することができる。   The above-described operation and effects can be similarly achieved in a leg portion 38a shown in FIG.

また、脚部３８では、補強部材４８の一端部側で脚部本体４６と補強部材４８との間に隙間Ｃ１を形成した状態で、脚部本体４６または補強部材４８の一端部を接地させ脚部本体４６に荷重を加えると、当該隙間Ｃ１が狭くなるように脚部本体４６が撓む。そして、脚部３８に加わる荷重が所定以上になると、脚部本体４６と補強部材４８の一端部側との間の隙間Ｃ１がなくなり、両者が一体化する。このようにして、荷重の変化量に対する荷重作用点Ｘの変位量の割合が、荷重が所定未満である第１領域Ｒ１よりも荷重が所定以上である第２領域Ｒ２の方が小さくなる、脚部３８を容易に得ることができる。   Further, in the leg portion 38, one end of the leg main body 46 or the reinforcing member 48 is grounded in a state where a gap C 1 is formed between the leg main body 46 and the reinforcing member 48 on one end side of the reinforcing member 48. When a load is applied to the body 46, the leg body 46 bends so that the gap C1 is narrowed. And if the load added to the leg part 38 becomes more than predetermined, the clearance gap C1 between the leg part main body 46 and the one end part side of the reinforcement member 48 will disappear, and both will integrate. In this way, the ratio of the displacement amount of the load application point X to the load change amount is smaller in the second region R2 in which the load is equal to or greater than the first region R1 in which the load is less than the predetermined value. The part 38 can be obtained easily.

脚部３８では、脚部本体４６側の面に凹部５６が形成され、補強部材４８側の面に凹部５６に嵌まる凸部６６が形成されるので、脚部本体４６と補強部材４８とをより強く一体化できる。   In the leg portion 38, the concave portion 56 is formed on the surface on the leg main body 46 side, and the convex portion 66 that fits into the concave portion 56 is formed on the surface on the reinforcing member 48 side, so that the leg main body 46 and the reinforcing member 48 are connected. Can be integrated more strongly.

上述の実施形態では、脚部ユニット３６は、タンク２６に接続されていないが、これに限定されない。図８に示すような脚部ユニット３６ａが用いられてもよい。脚部ユニット３６ａは、図３に示す脚部ユニット３６がタンク２６ａに接続された構造に相当する。脚部ユニット３６ａでは、脚部３８の一端部（下端部）がタンク２６ａより下方に位置するように、各脚部３８の本体上部５２がタンク２６ａによって連結されている。本体上部５２とタンク２６ａとは、たとえばボルトなどの締結部材（図示せず）によって接続される。また、タンク２６ａと、連結部材４０，４２とは、たとえばボルトなどの締結部材によって一体的に設けられる。脚部ユニット３６ａは、各脚部３８の本体上部５２に接続される接続部材４４を介してマルチコプタ本体Ｍに連結される。   In the above-described embodiment, the leg unit 36 is not connected to the tank 26, but is not limited thereto. A leg unit 36a as shown in FIG. 8 may be used. The leg unit 36a corresponds to a structure in which the leg unit 36 shown in FIG. 3 is connected to the tank 26a. In the leg unit 36a, the main body upper part 52 of each leg 38 is connected by the tank 26a so that one end (lower end) of the leg 38 is positioned below the tank 26a. The main body upper portion 52 and the tank 26a are connected by a fastening member (not shown) such as a bolt, for example. The tank 26a and the connecting members 40 and 42 are integrally provided by a fastening member such as a bolt, for example. The leg unit 36 a is coupled to the multicopter main body M via a connection member 44 connected to the main body upper part 52 of each leg 38.

このような脚部ユニット３６ａによれば、タンク２６ａが、散布物や燃料を収容する本来の機能だけではなく、４つの脚部３８を支持しかつ連結する機能を果たし、各脚部３８を強く連結できる。また、タンク２６ａと一体化された連結部材４０，４２によって隣り合う脚部３８をさらに強く連結できる。このように、各脚部３８を、タンク２６ａだけではなく、連結部材４０，４２によっても支持することによって、脚部３８の支持を分担でき、脚部３８をより強く支持できる。   According to such a leg unit 36a, the tank 26a has a function of supporting and connecting the four legs 38 as well as the original function of containing the spatter and fuel, and strongly strengthens each leg 38. Can be linked. Further, the adjacent leg portions 38 can be more strongly connected by the connecting members 40 and 42 integrated with the tank 26a. Thus, by supporting each leg 38 not only by the tank 26a but also by the connecting members 40 and 42, the support of the leg 38 can be shared and the leg 38 can be supported more strongly.

上述の実施形態では、荷重ゼロの状態でも、補強部材４８の一端部側（部材上部６２の下端部側）で脚部本体４６の凹部５６に補強部材４８の凸部６６の先端が入り込むように、脚部３８が構成されたが、これに限定されない。図９に示すように、荷重ゼロの状態において、補強部材４８の一端部側で脚部本体４６の凹部５６に補強部材４８の凸部６６の先端が入り込まないように、脚部３８が構成されてもよい。また、脚部本体に凸部が設けられかつ補強部材に凹部が設けられてもよい。さらに、凹部および凸部のない脚部本体および補強部材を用いて、脚部が構成されてもよい。   In the above-described embodiment, the tip of the convex portion 66 of the reinforcing member 48 enters the concave portion 56 of the leg main body 46 on one end portion side (the lower end portion side of the member upper portion 62) of the reinforcing member 48 even in a zero load state. Although the leg part 38 was comprised, it is not limited to this. As shown in FIG. 9, the leg portion 38 is configured so that the tip of the convex portion 66 of the reinforcing member 48 does not enter the concave portion 56 of the leg main body 46 on the one end side of the reinforcing member 48 in a zero load state. May be. Moreover, a convex part may be provided in a leg part main body, and a recessed part may be provided in a reinforcement member. Furthermore, a leg part may be comprised using the leg part main body and reinforcement member without a recessed part and a convex part.

また、補強部材４８は部材下部６４を含まなくてもよい。したがって、脚部本体４６の下端部と補強部材の下端部とは、必ずしも接続されていなくてもよい。   Further, the reinforcing member 48 may not include the member lower portion 64. Therefore, the lower end part of the leg part main body 46 and the lower end part of the reinforcing member do not necessarily have to be connected.

ついで、図１０を参照して、この発明の他の実施形態の脚部３８ａについて説明する。   Next, a leg portion 38a according to another embodiment of the present invention will be described with reference to FIG.

脚部３８ａは、脚部本体７０と補強部材７２とを含む。   The leg portion 38 a includes a leg main body 70 and a reinforcing member 72.

脚部本体７０は、たとえば衝撃に強く割れにくい超高分子量ポリエチレンからなり、略弓状に形成され、本体中部７４と、本体中部７４の上端部に繋がる本体上部７６と、本体中部７４の下端に繋がる本体下部７８とを含む。本体中部７４および本体下部７８のうち補強部材７２と対向する面の幅方向中央部には、本体中部７４の上端から本体下部７８の下端にかけて溝状の凹部８０が形成される。また、本体上部７６の下端には、補強部材７２の他端部（上端部）を係止する係止部８２が形成される。本体下部７８の下端部は曲面状に形成され、本体下部７８の下端部には、補強部材７２の下端部を取り付けるための貫通孔８４が形成される。   The leg main body 70 is made of, for example, an ultra-high molecular weight polyethylene that is strong against impact and is not easily broken. The leg main body 70 is formed in a substantially arcuate shape. And a main body lower part 78 to be connected. A groove-shaped recess 80 is formed from the upper end of the main body middle portion 74 to the lower end of the lower body portion 78 at the center in the width direction of the surface of the main body middle portion 74 and the main body lower portion 78 that faces the reinforcing member 72. A locking portion 82 that locks the other end portion (upper end portion) of the reinforcing member 72 is formed at the lower end of the main body upper portion 76. A lower end portion of the main body lower portion 78 is formed in a curved shape, and a through hole 84 for attaching the lower end portion of the reinforcing member 72 is formed in the lower end portion of the main body lower portion 78.

補強部材７２は、たとえば曲げ強度に優れたポリアミドからなり、部材上部８６と、部材上部８６の下端に繋がる部材下部８８とを含む。部材上部８６は、本体中部７４に沿いかつ本体中部７４と略同じ長さに形成され、その上端部に形成される突起部９０を有する。部材下部８８は、部材上部８６の下端から折れ曲がって略Ｖ字状に形成される。部材上部８６および部材下部８８のうち脚部本体７０と対向する面の幅方向中央部には、部材上部８６の上端から部材下部８８の下端にかけて、さらに部材下部８８からはみ出しかつ部材上部８６側に向かって湾曲するように凸部９２が形成される。凸部９２は、凹部８０に嵌入可能な寸法を有し、凸部９２が凹部８０に嵌入されることによって、脚部本体７０に対する補強部材７２の幅方向の位置ずれを防止でき、脚部本体７０上に補強部材７２を位置させることができる。補強部材７２（凸部９２）の下端部には、本体下部７８を取り付けるための貫通孔（図示せず）が形成される。   The reinforcing member 72 is made of polyamide having excellent bending strength, for example, and includes a member upper part 86 and a member lower part 88 connected to the lower end of the member upper part 86. The member upper portion 86 is formed along the main body middle portion 74 and substantially the same length as the main body middle portion 74, and has a protrusion 90 formed at the upper end portion thereof. The member lower portion 88 is bent from the lower end of the member upper portion 86 and is formed in a substantially V shape. Of the member upper portion 86 and the member lower portion 88, the width direction central portion of the surface facing the leg main body 70 extends from the upper end of the member upper portion 86 to the lower end of the member lower portion 88 and further protrudes from the member lower portion 88 and toward the member upper portion 86 side. A convex portion 92 is formed so as to curve toward the front. The convex portion 92 has a size that can be fitted into the concave portion 80, and the convex portion 92 can be fitted into the concave portion 80, thereby preventing displacement of the reinforcing member 72 in the width direction with respect to the leg main body 70. A reinforcing member 72 can be positioned on 70. A through hole (not shown) for attaching the main body lower portion 78 is formed at the lower end portion of the reinforcing member 72 (convex portion 92).

そして、脚部本体７０の凹部８０に補強部材７２の凸部９２が嵌まるように位置決めされた状態で、脚部本体７０の貫通孔８４および補強部材７２の下端部の貫通孔にボルトなどの締結部材（図示せず）が通されて固定される。これによって、補強部材７２は脚部本体７０の長手方向に延びるように設けられ、脚部本体７０と補強部材７２とが一端部（下端部）側で接続される。また、補強部材７２の他端部の突起部９０と脚部本体７０の係止部８２との間に隙間Ｃ２が設けられ、補強部材７２は、他端部（上端部）側で脚部本体７０に対して相対的に長手方向に摺動可能となるように設けられる。   Then, in a state in which the convex portion 92 of the reinforcing member 72 is fitted in the concave portion 80 of the leg main body 70, bolts or the like are inserted into the through holes 84 of the leg main body 70 and the through holes at the lower end of the reinforcing member 72. A fastening member (not shown) is passed and fixed. Accordingly, the reinforcing member 72 is provided so as to extend in the longitudinal direction of the leg main body 70, and the leg main body 70 and the reinforcing member 72 are connected at one end (lower end) side. Further, a gap C2 is provided between the protruding portion 90 at the other end of the reinforcing member 72 and the locking portion 82 of the leg main body 70, and the reinforcing member 72 has a leg main body at the other end (upper end) side. 70 so as to be slidable in the longitudinal direction relative to 70.

隣り合う脚部３８ａの本体上部７６の下端部（係止部８２のやや上側）同士が、リブ状の連結部材４０または４２によって連結される。また、各脚部３８ａの本体上部７６の上端部が、接続部材４４を介して、マルチコプタ本体Ｍに連結される。脚部３８ａと連結部材４０，４２および接続部材４４とは、たとえばボルトなどの締結部材によって接続される。   The lower end portions (slightly above the locking portions 82) of the main body upper portions 76 of the adjacent leg portions 38a are connected to each other by a rib-like connecting member 40 or 42. Further, the upper end portion of the main body upper portion 76 of each leg portion 38 a is coupled to the multicopter main body M via the connection member 44. Leg 38a, connecting members 40 and 42, and connecting member 44 are connected by a fastening member such as a bolt, for example.

このような脚部３８ａでは、脚部本体７０の一端部を接地させた状態で補強部材７２は脚部本体７０の上側に位置する。補強部材７２の一端部と脚部本体７０の一端部とは、プリロードをかけて接続され（図１０（ａ）参照）、また、膨らんだ外形を有しかつ脚部本体７０と補強部材７２との間に貫通部９４が形成されるように接続される。補強部材７２の一端部と脚部本体７０の一端部との接続部は曲面状に形成される。また、脚部３８ａに所定以上の荷重が加わることによって脚部本体７０と補強部材７２とが接触するそれぞれの接触面において、脚部本体７０側の面には凹部８０が形成され、かつ補強部材７２側の面には凹部８０に嵌まる凸部９２が形成される。なお、図１０（ａ）に示す本体下部７８において、一点鎖線は脚部本体７０の貫通孔８４と補強部材７２の下端部の貫通孔との組付前の形状を示し、実線は組付時の形状を示す。   In such a leg portion 38 a, the reinforcing member 72 is positioned on the upper side of the leg main body 70 with one end of the leg main body 70 grounded. One end portion of the reinforcing member 72 and one end portion of the leg main body 70 are connected by preloading (see FIG. 10A), and have a bulging outer shape, and the leg main body 70 and the reinforcing member 72 The through-holes 94 are connected so as to be formed therebetween. A connecting portion between one end of the reinforcing member 72 and one end of the leg main body 70 is formed in a curved surface shape. Further, in each contact surface where the leg main body 70 and the reinforcing member 72 come into contact with each other when a predetermined load or more is applied to the leg 38a, a recess 80 is formed on the surface on the leg main body 70 side, and the reinforcing member A convex portion 92 that fits into the concave portion 80 is formed on the surface on the 72 side. 10A, the alternate long and short dash line indicates the shape of the through hole 84 of the leg main body 70 and the through hole at the lower end of the reinforcing member 72 before assembling, and the solid line indicates when assembled. The shape of is shown.

また、脚部本体７０において、一端部を接地させた状態で他端部側から荷重を加えたとき、荷重が大きくなるにしたがって一端部から他端部側により離れた箇所が接地する。また、脚部本体７０の一端部を接地させた状態で脚部本体７０の他端部側から荷重を加えたとき、各脚部３８ａにおいて荷重作用点（脚部３８ａと接続部材４４との接続部）に加わる荷重が所定未満であれば各脚部本体７０と補強部材７２との間に隙間Ｃ２（図１０参照）があるが、荷重が所定以上であれば隙間Ｃ２がなくなり両者が接触し一体化する。したがって、脚部３８ａの一端部を接地させた状態で他端部側から荷重を加えたとき、脚部３８ａに加わる荷重の変化量に対する荷重作用点の変位量の割合は、各脚部３８ａに加わる荷重が所定未満である第１領域（図６の第１領域Ｒ１に相当）よりも、荷重が所定以上である第２領域（図６の第２領域Ｒ２に相当）の方が小さくなる。   Further, in the leg main body 70, when a load is applied from the other end while the one end is grounded, a portion away from the one end to the other end is grounded as the load increases. Further, when a load is applied from the other end side of the leg main body 70 with one end of the leg main body 70 grounded, a load application point (connection between the leg 38 a and the connection member 44 is applied to each leg 38 a. If the load applied to the part) is less than a predetermined value, there is a gap C2 (see FIG. 10) between each leg main body 70 and the reinforcing member 72. Integrate. Therefore, when a load is applied from the other end side with one end of the leg 38a being grounded, the ratio of the displacement amount of the load acting point to the change in the load applied to the leg 38a is set to each leg 38a. The second region (corresponding to the second region R2 in FIG. 6) in which the load is greater than the predetermined value is smaller than the first region (corresponding to the first region R1 in FIG. 6) where the applied load is less than the predetermined value.

このような脚部３８ａを含むマルチコプタによれば、補強部材７２の他端部と脚部本体７０の係止部８２との間に隙間Ｃ２を形成した状態で、脚部本体７０の一端部を接地させ脚部本体７０に荷重を加えると、脚部本体７０は下方に押される。それに伴って、補強部材７２の他端部は、脚部本体７０に対して長手方向（Ｙ１方向）に摺動し、隙間Ｃ２が狭くなっていく。そして、各脚部３８ａに加わる荷重が所定以上になると、補強部材７２の他端部（突起部９０）は脚部本体７０の係止部８２に係止され、脚部本体７０と補強部材７２の他端部との間の隙間Ｃ２がなくなり両者が一体化する。このようにして、荷重の変化量に対する荷重作用点の変位の割合が、荷重が所定未満である第１領域よりも荷重が所定以上である第２領域の方が小さくなる、脚部３８ａを容易に得ることができる。   According to the multicopter including the leg portion 38a, the end portion of the leg main body 70 is connected to the other end portion of the reinforcing member 72 and the locking portion 82 of the leg main body 70 with the gap C2 formed therebetween. When a load is applied to the leg main body 70 by being grounded, the leg main body 70 is pushed downward. Along with this, the other end of the reinforcing member 72 slides in the longitudinal direction (Y1 direction) with respect to the leg main body 70, and the gap C2 becomes narrower. When the load applied to each leg portion 38a exceeds a predetermined value, the other end portion (projection portion 90) of the reinforcing member 72 is locked to the locking portion 82 of the leg main body 70, and the leg main body 70 and the reinforcing member 72 are locked. There is no gap C2 between the other end of the two and the two are integrated. In this way, the ratio of the displacement of the load application point to the amount of change in the load is smaller in the second region where the load is greater than or equal to the first region where the load is less than the predetermined, and the leg portion 38a is easy. Can get to.

さらに、図１１および図１２を参照して、この発明の他の実施形態の脚部３８ｂについて説明する。   Furthermore, with reference to FIG. 11 and FIG. 12, the leg part 38b of other embodiment of this invention is demonstrated.

脚部３８ｂは、脚部本体９６と補強部材９８とを含む。   The leg portion 38 b includes a leg portion main body 96 and a reinforcing member 98.

脚部本体９６は、たとえば衝撃に強く割れにくい超高分子量ポリエチレンからなり、略弓状に形成され、本体中部１００と、本体中部１００の上端に繋がる本体上部１０２と、本体中部１００の下端に繋がる本体下部１０４とを含む。本体中部１００のうち補強部材９８と対向する面を挟むように、本体中部１００の上端やや下方には、一対の係止部１０６ａ，１０６ｂが形成される。本体中部１００のうち補強部材９８と対向する面の下端には、脚部３８ｂの長手方向に延びるスリット１０８を有する突起部１１０が設けられる。当該対向面の幅方向中央部には、本体中部１００の上端から突起部１１０にかけて溝状の凹部１１２が形成される。また、本体中部１００の上端部の両側面には、脚部３８ｂの長手方向に延びる一対の溝状の凹部１１４ａ，１１４ｂが形成される。本体下部１０４の下端部は曲面状に形成される。   The leg main body 96 is made of, for example, an ultra-high molecular weight polyethylene that is strong against impact and is not easily broken. The leg main body 96 is formed in a substantially arcuate shape, and is connected to the main body middle portion 100 Main body lower part 104. A pair of locking portions 106a and 106b are formed at the upper end of the main body middle portion 100 slightly below the surface of the main body middle portion 100 that faces the reinforcing member 98. A protruding portion 110 having a slit 108 extending in the longitudinal direction of the leg portion 38 b is provided at the lower end of the surface of the main body middle portion 100 facing the reinforcing member 98. A groove-shaped concave portion 112 is formed from the upper end of the main body middle portion 100 to the protruding portion 110 at the center in the width direction of the facing surface. A pair of groove-like recesses 114a and 114b extending in the longitudinal direction of the leg portion 38b are formed on both side surfaces of the upper end portion of the main body middle portion 100. A lower end portion of the lower body portion 104 is formed in a curved surface shape.

補強部材９８は、たとえば曲げ強度に優れたポリアミドからなり、略Ｖ字状に形成され、脚部本体９６の本体中部１００と対向するように設けられる。補強部材９８は、部材本体１１６を含む。部材本体１１６の上端部には係止部１１８が設けられる。係止部１１８は、凹部１１４ａ，１１４ｂを摺動可能な一対の凸部１２０ａ，１２０ｂを含む（図１２（ａ）参照）。部材本体１１６の下端部には、突起部１１０のスリット１０８に差し込まれる板状部１２２が設けられる。部材本体１１６および係止部１１８のうち脚部本体９６と対向する面の幅方向中央部には、係止部１１８の上端から部材本体１１６の下端にかけて、凸部１２４が形成される。凸部１２４は、凹部１１２に嵌入可能な寸法を有し、凸部１２４が凹部１１２に嵌入されることによって、脚部本体９６に対する補強部材９８の幅方向の位置ずれを防止できる。   The reinforcing member 98 is made of, for example, polyamide having excellent bending strength, is formed in a substantially V shape, and is provided so as to face the main body middle portion 100 of the leg main body 96. The reinforcing member 98 includes a member main body 116. A locking portion 118 is provided at the upper end portion of the member main body 116. The locking portion 118 includes a pair of convex portions 120a and 120b that can slide in the concave portions 114a and 114b (see FIG. 12A). A plate-like portion 122 that is inserted into the slit 108 of the protruding portion 110 is provided at the lower end portion of the member main body 116. A convex portion 124 is formed from the upper end of the locking portion 118 to the lower end of the member main body 116 at the center in the width direction of the surface of the member main body 116 and the locking portion 118 that faces the leg main body 96. The convex portion 124 has a dimension that can be fitted into the concave portion 112, and the convex portion 124 is fitted into the concave portion 112, thereby preventing the displacement of the reinforcing member 98 in the width direction with respect to the leg main body 96.

そして、脚部本体９６の凹部１１２，１１４ａ，１１４ｂにそれぞれ補強部材９８の凸部１２４，１２０ａ，１２０ｂが嵌まり、かつ脚部本体９６のスリット１０８に補強部材９８の板状部１２２が差し込まれた状態で、突起部１１０と板状部１２２とがボルトなどの締結部材（図示せず）によって固定される。これによって、補強部材９８は脚部本体９６の長手方向に延びるように設けられ、脚部本体９６と補強部材９８とが一端部（下端部）側で接続される。また、補強部材９８の係止部１１８と脚部本体９６の係止部１０６ａ，１０６ｂとの間に隙間Ｃ３（図１１（ａ）参照）が設けられ、補強部材９８は、他端部（上端部）側で脚部本体９６に対して相対的に長手方向に摺動可能となるように設けられる。脚部３８ｂでは、脚部本体９６の一端部を接地させた状態で補強部材９８は脚部本体９６の下側に位置する。   Then, the convex portions 124, 120a, 120b of the reinforcing member 98 are fitted into the concave portions 112, 114a, 114b of the leg main body 96, respectively, and the plate-like portion 122 of the reinforcing member 98 is inserted into the slit 108 of the leg main body 96. In this state, the protrusion 110 and the plate-like portion 122 are fixed by a fastening member (not shown) such as a bolt. Accordingly, the reinforcing member 98 is provided so as to extend in the longitudinal direction of the leg main body 96, and the leg main body 96 and the reinforcing member 98 are connected at one end (lower end) side. Further, a gap C3 (see FIG. 11A) is provided between the locking portion 118 of the reinforcing member 98 and the locking portions 106a and 106b of the leg main body 96, and the reinforcing member 98 has the other end (upper end). Part) side so as to be slidable in the longitudinal direction relative to the leg body 96. In the leg portion 38 b, the reinforcing member 98 is positioned on the lower side of the leg main body 96 with one end of the leg main body 96 grounded.

このような脚部３８ｂを用いたマルチコプタによれば、補強部材９８の係止部１１８と脚部本体９６の係止部１０６ａ，１０６ｂとの間に隙間Ｃ３を形成した状態で、脚部本体９６の一端部を接地させ脚部本体９６の他端部側から荷重を加えると、脚部本体９６は下方に押されながら曲がる。それに伴って、補強部材９８の係止部１１８は、脚部本体９６に対して凹部１１４ａ，１１４ｂに沿って長手方向（Ｙ２方向）に摺動し、隙間Ｃ３が狭くなっていく。そして、各脚部３８ｂに加わる荷重が所定以上になると、補強部材９８の係止部１１８は脚部本体９６の係止部１０６ａ，１０６ｂに係止され、隙間Ｃ３がなくなり脚部本体９６と補強部材９８とが一体化する。このようにして、荷重の変化量に対する荷重作用点の変位の割合が、荷重が所定未満である第１領域（図６の第１領域Ｒ１）よりも荷重が所定以上である第２領域（図６の第２領域Ｒ２に相当）の方が小さくなる、脚部３８ｂを容易に得ることができる。   According to such a multicopter using the leg portion 38b, the leg main body 96 is formed with the gap C3 formed between the locking portion 118 of the reinforcing member 98 and the locking portions 106a and 106b of the leg main body 96. When one end of the leg is grounded and a load is applied from the other end of the leg main body 96, the leg main body 96 bends while being pushed downward. Accordingly, the locking portion 118 of the reinforcing member 98 slides in the longitudinal direction (Y2 direction) along the recesses 114a and 114b with respect to the leg main body 96, and the gap C3 becomes narrower. When the load applied to each leg portion 38b exceeds a predetermined value, the locking portion 118 of the reinforcing member 98 is locked to the locking portions 106a and 106b of the leg main body 96, and the gap C3 is eliminated and the leg main body 96 is reinforced. The member 98 is integrated. In this way, the ratio of the displacement of the load application point with respect to the amount of change in the load is greater than the first region where the load is less than the predetermined value (the first region R1 in FIG. 6). 6 (corresponding to the second region R2), the leg portion 38b can be easily obtained.

さらに、図１３および図１４を参照して、この発明の他の実施形態の脚部ユニット３６ｂについて説明する。   Further, a leg unit 36b according to another embodiment of the present invention will be described with reference to FIGS.

脚部ユニット３６ｂは、複数（この実施形態では、４個）の脚部３８ｄ、各脚部３８ｄを連結する連結部材として機能するタンク２６ｂ、および向かい合う２つの脚部３８ｄを連結する２つの伸縮部材１２６を含む。   The leg unit 36b includes a plurality of (four in this embodiment) leg portions 38d, a tank 26b that functions as a connecting member that connects the leg portions 38d, and two elastic members that connect the two leg portions 38d facing each other. 126.

各脚部３８ｄは、略弓状に形成され、タンク２６ｂに取り付けられる取付部１２８と、取付部１２８の下端に繋がりかつ開脚可能な開脚部１３０と、伸縮部材１２６を支持するために開脚部１３０に設けられる支持部１３２とを含む。開脚部１３０の下端部は、曲面状に形成される。   Each leg portion 38 d is formed in a substantially arcuate shape, and is attached to the tank 26 b, an open leg portion 130 that is connected to the lower end of the attachment portion 128 and can be opened, and is opened to support the telescopic member 126. And a support part 132 provided on the leg part 130. The lower end part of the open leg part 130 is formed in a curved surface shape.

４つの脚部３８ｄは、一端部（下端部）を接地させた状態で他端部（上端部）側から荷重を加えたとき、さらに開脚するように末広がり状に配置される。タンク２６ｂは、各脚部３８ｄを他端部側で相互に連結する。伸縮部材１２６は、たとえばゴムからなり、タンク２６ｂより下方において、向かい合う脚部３８ｄの開脚部１３０（支持部１３２）同士を連結する。   The four leg portions 38d are arranged in a divergent shape so as to further open when a load is applied from the other end (upper end) side with one end (lower end) grounded. The tank 26b connects the leg portions 38d to each other on the other end side. The elastic member 126 is made of rubber, for example, and connects the open leg portions 130 (support portions 132) of the opposing leg portions 38d below the tank 26b.

脚部ユニット３６ｂは、脚部３８ｄの一端部がマルチコプタ本体Ｍ（図１参照）より下方に位置するように、脚部３８ｄの他端部に接続された接続部材（図示せず）を介してマルチコプタ本体Ｍに連結される。   The leg unit 36b is connected via a connecting member (not shown) connected to the other end of the leg 38d so that one end of the leg 38d is positioned below the multicopter body M (see FIG. 1). It is connected to the multicopter body M.

このような脚部ユニット３６ｂを有するマルチコプタによれば、各脚部３８ｄの一端部を接地させた状態で各脚部３８ｄに他端部側から荷重を加えると、各脚部３８ｄの開脚部１３０が外側に開いていく。これに伴って、連結部材として機能するタンク２６ｂより下方に設けられる伸縮部材１２６が外側に引っ張られるとともに、タンク２６ｂが伸縮部材１２６側に相対的に下降し、やがて伸縮部材１２６に接触する。所定以上の荷重が加わるまではタンク２６ｂと伸縮部材１２６との間に隙間Ｃ４があるので、荷重は脚部３８ｄによって支持され、荷重の変化量に対する荷重作用点の変位量の割合は比較的大きく（脚部３８ｄのばね定数は小さく）なる。そして、所定以上の荷重が加わると、タンク２６ｂと伸縮部材１２６とは接触し、荷重は脚部３８ｄだけではなく伸縮部材１２６によっても支持されるので、荷重の変化量に対する荷重作用点の変位量の割合は比較的小さく（脚部３８ｄと伸縮部材１２６とを合わせたばね定数は大きく）なる。したがって、脚部ユニット３６ｂを有するマルチコプタを着地させるとき、加わる荷重が所定未満の着地初期では、タンク２６ｂと伸縮部材１２６との間に隙間Ｃ４があり、荷重の変化量に対する荷重作用点の変位量の割合が比較的大きくなるので、脚部３８ｄが変形し易い。その結果、脚部３８ｄと着地面との接触による衝撃を緩和でき、かつ着地面の凹凸を吸収して着地面の起伏に対する追従性を高めることができる。一方、加わる荷重が所定以上の着地完了時付近では、タンク２６ｂと伸縮部材１２６とが接触し、荷重の変化量に対する荷重作用点の変位量の割合が比較的小さくなるので、脚部３８ｄが変形し難い。その結果、エネルギを吸収して大きな荷重に対処することができる。   According to the multicopter having such a leg unit 36b, when a load is applied to each leg 38d from the other end side in a state where one end of each leg 38d is grounded, the leg portion of each leg 38d is opened. 130 opens outward. Along with this, the expansion / contraction member 126 provided below the tank 26b functioning as a connecting member is pulled outward, and the tank 26b is relatively lowered toward the expansion / contraction member 126 and eventually comes into contact with the expansion / contraction member 126. Until a predetermined load or more is applied, there is a gap C4 between the tank 26b and the expansion / contraction member 126. Therefore, the load is supported by the leg 38d, and the ratio of the displacement amount of the load application point to the load change amount is relatively large. (The spring constant of the leg portion 38d is small). When a load exceeding a predetermined value is applied, the tank 26b and the expansion / contraction member 126 come into contact with each other, and the load is supported not only by the leg portion 38d but also by the expansion / contraction member 126. Is relatively small (the spring constant of the leg portion 38d and the expansion / contraction member 126 is large). Accordingly, when the multicopter having the leg unit 36b is landed, at the initial landing when the applied load is less than a predetermined value, there is a gap C4 between the tank 26b and the expansion / contraction member 126, and the displacement amount of the load acting point with respect to the load variation amount. Is relatively large, the leg portion 38d is easily deformed. As a result, the impact caused by the contact between the leg 38d and the landing can be mitigated, and the unevenness of the landing can be absorbed to improve the followability to the undulation of the landing. On the other hand, in the vicinity of the completion of landing where the applied load exceeds a predetermined value, the tank 26b and the expansion / contraction member 126 come into contact with each other, and the ratio of the displacement amount of the load application point to the load change amount becomes relatively small, so It is hard to do. As a result, energy can be absorbed and a large load can be dealt with.

なお、図４に示す実施形態では，荷重ゼロのとき補強部材４８が接地するが、これに限定されない。荷重ゼロのとき脚部本体が接地するように構成されてもよい。   In the embodiment shown in FIG. 4, the reinforcing member 48 is grounded when the load is zero, but the present invention is not limited to this. The leg body may be configured to be grounded when the load is zero.

図１０に示す実施形態では，荷重ゼロのとき主として脚部本体７０が接地するが、これに限定されない。荷重ゼロのとき主として補強部材が接地するように構成されてもよい。   In the embodiment shown in FIG. 10, the leg body 70 is mainly grounded when the load is zero, but the present invention is not limited to this. The reinforcing member may be configured to be grounded mainly when the load is zero.

図４および図８に示す実施形態では、補強部材が膨らんだ外形を有していたが、これに限定されない。脚部本体が膨らんだ外形を有していてもよい。   In the embodiment shown in FIG. 4 and FIG. 8, the reinforcing member has an expanded outer shape, but is not limited thereto. The leg main body may have an expanded outer shape.

図８に示す脚部ユニット３６ａでは、タンク２６ａと連結部材４０，４２とが一体的に設けられたが、これに限定されない。タンク２６ａと連結部材４０，４２とは、離れていてもよい。   In the leg unit 36a shown in FIG. 8, the tank 26a and the connecting members 40 and 42 are integrally provided, but the present invention is not limited to this. The tank 26a and the connecting members 40 and 42 may be separated from each other.

図１３に示す実施形態では、伸縮部材１２６は、向かい合う２つの脚部３８ｄを連結したが、これに限定されない。伸縮部材は、各脚部の開脚部を他の少なくとも１つの脚部の開脚部に連結する限りにおいて、隣り合う脚部を連結するようにしてもよい。   In the embodiment shown in FIG. 13, the elastic member 126 connects the two leg portions 38 d facing each other, but is not limited thereto. The extendable member may connect adjacent legs as long as the open leg of each leg is connected to the open leg of at least one other leg.

上述の実施形態では、マルチコプタは４つの脚部を有する場合について説明したが、これに限定されない。マルチコプタは３つ以上の脚部を有すればよい。   In the above-mentioned embodiment, although the case where the multicopter has four legs has been described, the present invention is not limited to this. The multicopter may have three or more legs.

上述の実施形態では、この発明をマルチコプタに適用した場合について説明したが、これに限定されない。この発明は、シングルロータのヘリコプタや気球等の任意の無人飛行体に適用できる。   In the above-described embodiment, the case where the present invention is applied to a multicopter has been described. However, the present invention is not limited to this. The present invention can be applied to an arbitrary unmanned air vehicle such as a single rotor helicopter or a balloon.

１０ マルチコプタ
２６，２６ａ，２６ｂ タンク
３６，３６ａ，３６ｂ 脚部ユニット
３８，３８ａ，３８ｂ，３８ｃ，３８ｄ 脚部
４０，４２ 連結部材
４４ 接続部材
４６，７０，９６ 脚部本体
４８，７２，９８ 補強部材
５６，８０，１１２，１１４ａ，１１４ｂ 凹部
６６，９２，１２０ａ，１２０ｂ，１２４ 凸部
６８，９４ 貫通部
８２，１０６ａ，１０６ｂ，１１８ 係止部
１２６ 伸縮部材
１３０ 開脚部
Ｃ１，Ｃ２，Ｃ３，Ｃ４ 隙間
Ｍ マルチコプタ本体
Ｒ１ 第１領域
Ｒ２ 第２領域
Ｘ 荷重作用点 10 Multicopter 26, 26a, 26b Tank 36, 36a, 36b Leg unit 38, 38a, 38b, 38c, 38d Leg 40, 42 Connecting member 44 Connecting member 46, 70, 96 Leg body 48, 72, 98 Reinforcing member 56, 80, 112, 114a, 114b Concave portion 66, 92, 120a, 120b, 124 Convex portion 68, 94 Penetrating portion 82, 106a, 106b, 118 Locking portion 126 Stretching member 130 Open leg portion C1, C2, C3, C4 Gap M Multicopter body R1 First region R2 Second region X Load application point

Claims (14)

脚部本体と、
前記脚部本体に接続されかつ前記脚部本体の長手方向に延びるように設けられる補強部材とを備え、
前記脚部本体と前記補強部材とは、前記脚部本体または前記補強部材の一端部を接地させた状態で前記脚部本体の他端部側から荷重を加えたとき、前記荷重が所定未満であれば両者間に隙間を有し、前記荷重が所定以上であれば前記隙間がなくなり両者が接触するように構成される、脚部。 The leg body,
A reinforcing member connected to the leg main body and provided to extend in the longitudinal direction of the leg main body,
When the load is applied from the other end side of the leg body while the leg body or the one end of the reinforcement member is grounded, the load is less than a predetermined value. If there is a gap between the two, if there is a predetermined load or more, the gap is eliminated and the legs are configured to contact each other. 前記隙間は、前記補強部材の一端部側で前記脚部本体の長手方向に対して直交する方向に設けられ、
前記補強部材は他端部側で前記脚部本体に接続される、請求項１に記載の脚部。 The gap is provided in a direction orthogonal to the longitudinal direction of the leg body on one end side of the reinforcing member,
The leg portion according to claim 1 , wherein the reinforcing member is connected to the leg main body on the other end side. 前記所定以上の荷重が加わることによって前記脚部本体と前記補強部材とが接触するそれぞれの接触面において、一方には凹部が形成されかつ他方には前記凹部に嵌まる凸部が形成される、請求項２に記載の脚部。 In each contact surface where the leg main body and the reinforcing member come into contact with each other by applying a load of the predetermined amount or more, a concave portion is formed on one side and a convex portion that fits in the concave portion is formed on the other side. The leg part according to claim 2 . 前記補強部材は、一端部側で前記脚部本体に接続されかつ他端部側で前記脚部本体に対して相対的に長手方向に摺動可能に設けられ、
前記脚部本体は、前記補強部材の他端部を係止する係止部を有し、
前記隙間は、前記補強部材の他端部と前記係止部との間に設けられる、請求項１に記載の脚部。 The reinforcing member is connected to the leg main body on one end side and is slidable in the longitudinal direction relative to the leg main body on the other end side,
The leg main body has a locking portion for locking the other end of the reinforcing member,
The leg portion according to claim 1 , wherein the gap is provided between the other end portion of the reinforcing member and the locking portion. 前記脚部本体または前記補強部材の一端部を接地させた状態で前記補強部材は前記脚部本体の上側に位置する、請求項１から４のいずれかに記載の脚部。 The leg part according to any one of claims 1 to 4 , wherein the reinforcing member is positioned on an upper side of the leg main body in a state where one end of the leg main body or the reinforcing member is grounded. 膨らんだ外形を有しかつ前記脚部本体と前記補強部材との間に貫通部が形成されるように前記補強部材の一端部と前記脚部本体の一端部とが接続される、請求項１から５のいずれかに記載の脚部。 One end portion of the reinforcing member such that the through portion is formed between the bulging has the outer shape and the reinforcing member and the leg portion main body and the one end portion of the leg portion main body is connected, according to claim 1 To 5. The leg according to any one of 5 to 5 . 前記補強部材の一端部と前記脚部本体の一端部とはプリロードをかけて接続される、請求項６に記載の脚部。 The leg part according to claim 6 , wherein one end part of the reinforcing member and one end part of the leg main body are connected by preloading. 前記補強部材の一端部と前記脚部本体の一端部との接続部は曲面状に形成される、請求項６または７に記載の脚部。 The leg portion according to claim 6 or 7 , wherein a connection portion between one end portion of the reinforcing member and one end portion of the leg main body is formed in a curved shape. 前記脚部本体は、一端部を接地させた状態で他端部側から荷重を加えたとき、前記荷重が大きくなるにしたがって前記一端部から前記他端部側により離れた箇所が接地するように弓状に構成される、請求項１から８のいずれかに記載の脚部。 When the load is applied from the other end while the one end is grounded, the leg main body is grounded so that the portion away from the one end is grounded as the load increases. The leg according to any one of claims 1 to 8 , wherein the leg is configured in an arcuate shape. 請求項１から９のいずれかに記載の３つ以上の脚部と、
前記各脚部が取り付けられるタンクとを備え、
前記脚部の一端部が前記タンクより下方に位置するように前記各脚部が前記タンクに取り付けられる、脚部ユニット。 Three or more legs according to any of claims 1 to 9 ,
A tank to which each leg is attached,
A leg unit, wherein each leg is attached to the tank such that one end of the leg is positioned below the tank. 前記タンクと一体的に設けられかつ隣り合う前記脚部を連結する連結部材をさらに含む、請求項１０に記載の脚部ユニット。 Further comprising leg unit of claim 1 0 a connecting member connecting the legs the adjacent and provided integrally with the tank. 請求項１から９のいずれかに記載の３つ以上の脚部と、
前記各脚部が取り付けられる飛行体本体とを備え、
前記脚部の一端部が前記飛行体本体より下方に位置するように前記各脚部が前記飛行体本体に取り付けられる、無人飛行体。 Three or more legs according to any of claims 1 to 9 ,
A vehicle body to which each leg is attached;
An unmanned aerial vehicle in which each leg is attached to the aircraft body such that one end of the leg is positioned below the aircraft body. 前記各脚部が取り付けられるタンクをさらに含み、
前記脚部の一端部が前記タンクより下方に位置するように前記各脚部が前記タンクに取り付けられる、請求項１２に記載の無人飛行体。 Further comprising a tank to which each leg is attached;
Each leg as one end of the leg portion is positioned below the tank is attached to the tank, unmanned flying body according to claim 1 2. 一端部を接地させた状態で他端部側から荷重を加えたときさらに開脚するように末広がり状に配置される３つ以上の脚部と、
前記各脚部を他端部側で相互に連結する連結部材と、
前記連結部材より下方において前記各脚部の開脚部を他の少なくとも１つの前記脚部の開脚部に連結する伸縮可能な伸縮部材とを備え、
前記連結部材と前記伸縮部材とは、前記各脚部の一端部を接地させた状態で前記各脚部の他端部側から荷重を加えたとき、前記荷重が所定未満であれば両者間に隙間を有し、前記荷重が所定以上であれば両者が接触するように構成される、脚部ユニット。 Three or more legs arranged in a divergent shape so as to open further when a load is applied from the other end side with one end grounded,
A connecting member for connecting the legs to each other on the other end side;
An extendable / contractible member for connecting an open leg portion of each leg portion to an open leg portion of at least one other leg portion below the connecting member;
When the load is applied from the other end side of each leg in a state where one end of each leg is grounded, the connecting member and the expansion / contraction member are between the two if the load is less than a predetermined value. A leg unit that has a gap and is configured to come into contact when the load is equal to or greater than a predetermined value.
JP2017144683A 2017-07-26 2017-07-26 Legs, leg units and unmanned air vehicles Active JP6448719B1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2017144683A JP6448719B1 (en) 2017-07-26 2017-07-26 Legs, leg units and unmanned air vehicles
PCT/JP2018/017340 WO2019021564A1 (en) 2017-07-26 2018-04-27 Legs, leg unit, and unmanned flying body
CN201880049416.9A CN110958975B (en) 2017-07-26 2018-04-27 Leg portion, leg portion unit and unmanned vehicles
KR1020207001777A KR102282094B1 (en) 2017-07-26 2018-04-27 Legs, leg units, and unmanned aerial vehicles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017144683A JP6448719B1 (en) 2017-07-26 2017-07-26 Legs, leg units and unmanned air vehicles

Publications (2)

Publication Number Publication Date
JP6448719B1 true JP6448719B1 (en) 2019-01-09
JP2019025968A JP2019025968A (en) 2019-02-21

Family

ID=64960320

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017144683A Active JP6448719B1 (en) 2017-07-26 2017-07-26 Legs, leg units and unmanned air vehicles

Country Status (4)

Country Link
JP (1) JP6448719B1 (en)
KR (1) KR102282094B1 (en)
CN (1) CN110958975B (en)
WO (1) WO2019021564A1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102438013B1 (en) * 2020-12-31 2022-08-30 주식회사 엑스드론 Landing assembly for drone main body protection
KR102503301B1 (en) 2021-05-10 2023-02-24 주식회사 솔탑 Multicopter with articulated legs for landing
CN114261524A (en) * 2021-12-27 2022-04-01 重庆交通大学绿色航空技术研究院 Unmanned aerial vehicle undercarriage and anti-falling energy storage method

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0672392A (en) * 1992-08-31 1994-03-15 Koito Ind Ltd Leg structure of seat absorbing impact energy
JP2004354238A (en) * 2003-05-29 2004-12-16 Sumitomo Precision Prod Co Ltd Leg drop test method and device
JP2006051892A (en) * 2004-08-12 2006-02-23 Seiko Epson Corp Small flight vehicle
JP2009214612A (en) * 2008-03-07 2009-09-24 Bridgestone Corp Wheel for celestial-body traveling vehicle
JP2010095130A (en) * 2008-10-16 2010-04-30 Sumitomo Precision Prod Co Ltd Connecting rod
WO2016081041A1 (en) * 2014-08-29 2016-05-26 Reference Technologies Inc. Muiti-propulsion design for unmanned aerial systems
JP2017044359A (en) * 2015-08-24 2017-03-02 日本工機株式会社 Restraining net expansion device for unmanned floating machine

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1149097A (en) * 1997-08-05 1999-02-23 Mitsubishi Heavy Ind Ltd Skid type landing gear
JP4460954B2 (en) 2004-06-03 2010-05-12 富士重工業株式会社 Rotor aircraft landing gear
US7467763B2 (en) * 2005-06-03 2008-12-23 Kismarton Max U Composite landing gear apparatus and methods
FR2895368B1 (en) * 2005-12-27 2009-07-03 Eurocopter France A RIDER OF GIRAVION WITH SKATES AND GIRAVION COMPRISING SUCH A LITTER
US8919694B2 (en) * 2011-08-02 2014-12-30 Textron Innovations Inc. Skid landing gear system
GB2518428A (en) * 2013-09-23 2015-03-25 Hybrid Air Vehicles Ltd Landing Systems for air vehicles

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0672392A (en) * 1992-08-31 1994-03-15 Koito Ind Ltd Leg structure of seat absorbing impact energy
JP2004354238A (en) * 2003-05-29 2004-12-16 Sumitomo Precision Prod Co Ltd Leg drop test method and device
JP2006051892A (en) * 2004-08-12 2006-02-23 Seiko Epson Corp Small flight vehicle
JP2009214612A (en) * 2008-03-07 2009-09-24 Bridgestone Corp Wheel for celestial-body traveling vehicle
JP2010095130A (en) * 2008-10-16 2010-04-30 Sumitomo Precision Prod Co Ltd Connecting rod
WO2016081041A1 (en) * 2014-08-29 2016-05-26 Reference Technologies Inc. Muiti-propulsion design for unmanned aerial systems
JP2017044359A (en) * 2015-08-24 2017-03-02 日本工機株式会社 Restraining net expansion device for unmanned floating machine

Also Published As

Publication number Publication date
KR20200019977A (en) 2020-02-25
WO2019021564A1 (en) 2019-01-31
CN110958975A (en) 2020-04-03
CN110958975B (en) 2022-11-22
JP2019025968A (en) 2019-02-21
KR102282094B1 (en) 2021-07-27

Similar Documents

Publication Publication Date Title
JP6448719B1 (en) Legs, leg units and unmanned air vehicles
US10689098B2 (en) Adaptive landing gear assembly for rotary wing aircraft
EP2977316B1 (en) Aircraft landing gear
EP1780123B1 (en) Systems and methods for reducing surge loads in hose assemblies, including aircraft refueling hose assemblies
CN107000733B (en) Pressure change damper and corresponding vehicle brake apparatus for hydraulic vehicle brake equipment
CA2865270C (en) Landing gear
CN109311534B (en) Aircraft landing gear
CN114655427A (en) Shock-absorbing assembly
US20170106926A1 (en) Modular extension tube
US11427312B2 (en) Landing gear and stiffening member
JP5947208B2 (en) Aircraft landing system and spacecraft equipped with this landing system
US20200216169A1 (en) Attachment of a landing gear
US8672270B2 (en) Tie down and jack fitting assembly for helicopter
US3345019A (en) Aircraft landing gear
US11091252B2 (en) Aircraft multi-wheel truck beam positioner
US9895949B2 (en) Retractable suspension system
US10589848B2 (en) Landing-gear assembly for an aircraft, the landing-gear assembly including a secondary shimmy damper
EP3418190A1 (en) Semi cantilevered landing gear actuated by an external articulating load damper for improved take-off
KR101542806B1 (en) Structural spring landing gears for aircraft with wheels, determination method of shape thereof, and program storage media
KR102608112B1 (en) Leaf spring type landing gear
EP4040010A1 (en) Shock strut assemblies for landing gear
CN109281900A (en) A kind of formula adapter coupling
US8690180B1 (en) Towing adapter
CN205706557U (en) A kind of elastic endergonic collision prevention girders
US10766606B2 (en) Semi cantilevered landing gear actuated by an external articulating load damper for improved take-off

Legal Events

Date Code Title Description
TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20181127

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20181204

R150 Certificate of patent or registration of utility model

Ref document number: 6448719

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250