JP6243768B2 - Method for opening flying object and parachute - Google Patents

Description

  The present invention relates to a flying object that opens and descends a mounted parachute and a parachute opening method.

Conventionally, as a flying object that opens and drops as described above, for example, there is a flying object described in Patent Document 1.
This flying body is a recovery type rocket which opens and lowers the parachute after separating the propulsion part, and a parachute storage part is formed in the tail part of the rocket body. The tail of the rocket body and the parachute are connected by a suspension cable, and the suspension cable is housed in the parachute storage part together with the parachute.

  In addition, the rocket includes a horizontal suspension cable that connects both the head and tail of the rocket body and the parachute, and a suspension cable separation mechanism that separates the suspension cable. Is held in a folded state along the trunk between the head and tail of the rocket body.

  In this rocket, after separating the propulsion part, the parachute is pulled out from the parachute storage part of the rocket body and opened. At the initial stage of the parachute descent when the parachute is lowered by opening the parachute, the rocket body is suspended vertically along the vertical direction with a suspension rope until the behavior of the rocket body affected by the parachute opening settles down. When the behavior of the main body is stable, the suspension cable is separated by the suspension cable separation mechanism, and the rocket body is horizontally suspended horizontally by the horizontal suspension cable folded on the body of the rocket body. Yes.

JP 2007-182182 A

  The above-mentioned rocket needs to be separated from the propulsion unit for lowering, so it is necessary to place a coupling / separation device between the rocket and the propulsion unit. Construction of the type of rocket to be done is desired.

  However, in the case of rockets that descend while holding the propulsion unit that has completed combustion, the nozzle of the propulsion unit is mostly located at the tail of the rocket body, so a parachute storage part should be placed at the tail of the rocket body In the case of a rocket that cannot move and descends while holding such a propulsion unit, it is necessary to store the parachute in the trunk between the head and tail of the rocket body.

  In other words, since the parachute is pulled out from the body of the rocket body descending along the vertical direction and opened, the rocket body is horizontally suspended by the lateral suspension cable, that is, the rocket's attitude is changed. Therefore, for example, when the rocket has a tail, there is a possibility that the horizontal suspension rope may get entangled with the tail. It was an issue.

  The present invention has been made by paying attention to the above-described conventional problems. For example, even if a tail wing is provided, a parachute lateral suspending rope is entangled with the tail regardless of the presence or absence of the propulsion unit. It is an object of the present invention to provide a flying object and a parachute opening method that can hardly cause a situation, and as a result, can be lowered without hindrance by a parachute.

  A first aspect of the present invention is a flying body that opens and descends a mounted parachute, and is formed in a flying body main body having a head and a tail, and a trunk between the head and tail of the flying body. A parachute housed in the parachute housing part, a suspension cable housed in the parachute housing part and close to the head part of the parachute housing part and connecting the parachute, an intermediate part of the suspension cable, and the In a parachute descending state in which the parachute is connected to the tail portion of the parachute storage unit and the parachute is lowered by opening the parachute pulled out from the parachute storage unit of the flying body main body, From the stage of restraining the flying object body near the tail and suspending the flying object body vertically along the vertical direction using only the suspension cable, the flying object body is located near the tail. It has a configuration which includes a posture converting device to shift to a horizontal hanging stages horizontally the projectile body in open said suspension rope being restrained with 該懸 slings and the lateral hanging for search.

  In the second aspect of the present invention, the suspension cable is provided with two suspension cables, and the posture changing device restrains the two suspension cables with a distance from each other at a site near the tail of the flying body. Therefore, the vertically suspended state along the vertical direction of the flying body is configured to be non-rotatable.

  In the third aspect of the present invention, the posture changing device includes a loop body through which the suspension cable is inserted, a hook that is detachably locked to the loop body, and the suspension cable that is attached to the tail of the flying body. By locking the hook in a state of being pulled to the near part and restraining the suspension rope, releasing the lock state of the hook and positioning the suspension rope at a part near the tail of the flying body main body A locking mechanism for separating the hook from the loop body by a separation load in a direction away from the tail portion of the flying body main body generated in a suspension line, the loop body from the parachute storage portion of the flying body main body; In the stage of releasing the parachute, it is configured to function also as a guide for the suspension rope that is pulled out from the parachute storage part following the parachute.

  On the other hand, the parachute opening method according to the present invention is the above-described parachute opening method of the flying object according to the present invention, and the parachute pulled out from the parachute storage part of the flying object body is opened and lowered. In this case, the suspension cable is restrained by the position changing device near the tail portion of the flying body main body, and the flying body main body is suspended vertically along the vertical direction only by the suspension rope. When the behavior of the flying body at the time of opening of the umbrella is settled, the posture changing device is operated to release the suspension cable restrained at a portion near the tail of the flying body to open the suspension cable. And the horizontal suspension rope horizontally suspend the flying body.

  In the flying object and the parachute opening method according to the present invention, when the parachute pulled out from the parachute storage part of the trunk part of the flying object body is opened and lowered, first, the part near the head of the parachute storage part and The suspension cable that connects the opened parachute to the tail of the flying body is temporarily restrained by the attitude changer until the behavior of the flying body that shakes under the impact of opening the parachute is settled. The flying body is vertically suspended by a suspension line along the vertical direction.

  Next, when the behavior of the swinging flying body has settled, the attitude changing device is operated to release the suspension rope restrained at the site close to the tail of the flying body, and the suspension rope and the lateral suspension rope Then hang the flying body horizontally.

  As described above, in the flying object and the parachute opening method according to the present invention, when the parachute is pulled out from the parachute storage part of the trunk part of the flying object body and the umbrella is opened, the suspension cable is moved by the attitude changing device. Since the flying body itself is suspended vertically by temporarily restraining it at the part near the tail of the body, the attitude change device is operated to release the suspension rope and suspend the flying body horizontally horizontally. The attitude change of the flying body will be made after the behavior of the flying body that shakes in response to the shock accompanying the opening of the umbrella, for example, even if the flying body has a tail, the propulsion unit Regardless of the presence or absence of the parachute, there is almost no situation where the parachute's lateral suspension cable gets entangled. To become.

  At this time, two suspension ropes (preferably two transverse suspension ropes) are used, and the two suspension ropes are spaced apart from each other at a position near the tail of the flying body by the posture changing device. If restrained, the vertically suspended state along the vertical direction of the flying body will be held without rotating until the parachute is opened and the behavior of the flying body is settled.

  Also, as a posture changing device, a loop body through which a suspension cable housed in a parachute housing portion of the flying body body is inserted, a hook that is releasably locked to the loop body, and the hook is locked and released. If the structure equipped with the lock mechanism is adopted, the loop body passed through the suspension rope is drawn to the part near the tail of the flying body, and the suspension rope is simply locked by hooking the loop body. Since it can restrain at the site | part near the tail part of a flying body main body, simplification and size reduction of an attitude | position conversion apparatus will be achieved.

  Furthermore, when the parachute is released from the parachute storage part, the suspension cable follows the parachute and is pulled out from the parachute storage part, but since the loop body of the posture changing device also functions as a guide, the suspension cable does not get entangled It will be smoothly pulled out from the parachute storage part.

  In the flying object according to claim 1 and the parachute opening method according to claim 4 of the present invention, for example, even if a tail wing is provided, the lateral suspension of the parachute is performed on the tail wing regardless of the presence or absence of the propulsion unit. As a result, there is almost no risk of the cords becoming tangled, and as a result, a very excellent effect is achieved that the descent in the laterally suspended state by the parachute can be performed without any trouble.

  Further, in the flying object according to claim 2 of the present invention, the flying object body can be suspended vertically along the vertical direction while suppressing the rotation until the parachute is opened and the behavior of the flying object body is settled. This is a very good effect.

  Furthermore, in the flying body according to claim 3 of the present invention, a very excellent effect that simplification and downsizing of the posture changing device can be realized.

Side explanatory drawing (a) which shows the state which the rocket which shows one Example of the flying body which concerns on this invention falls along a perpendicular direction, Side explanatory drawing (b) which shows the state which a rocket main body hangs vertically by a parachute and falls ), A side explanatory view (c) showing a state in which the rocket body shifts from a vertically suspended state to a horizontally suspended state, and a side explanatory view (d) showing a state in which the rocket body is horizontally suspended by the parachute and descends. It is a fragmentary perspective explanatory view which shows the attitude | position conversion apparatus of the rocket in FIG. It is sectional explanatory drawing (a) based on the AA line position of the attitude | position conversion apparatus in FIG. 2, and sectional explanatory drawing (b) based on the BB line position.

Hereinafter, a flying object according to the present invention will be described with reference to the drawings.
1 to 3 show an embodiment of a flying body according to the present invention. In this embodiment, the flying body according to the present invention is a rocket of a type that collects with a propulsion unit that has finished combustion. An example is given as an example.

  As shown in FIG. 1, the rocket 1 includes a rocket body 2, a parachute storage part 6 formed in a body part 5 between a head part 3 and a tail part 4 of the rocket body 2, and a nozzle ( A propulsion unit) 7, a plurality of tail blades 8, a parachute 10 stored in the parachute storage unit 6, a portion near the head 3 of the parachute storage unit 6 (hereinafter referred to as a head connection unit 6 </ b> F), and the parachute 10. There is provided a suspension cable 11 to be connected, and a horizontal suspension cable 12 for connecting an intermediate portion of the suspension cable 11 and a portion near the tail part 4 of the parachute storage part 6 (hereinafter referred to as tail connection part 6R). The suspension cable 11 and the lateral suspension cable 12 are both housed in the parachute housing part 6 together with the parachute 10 in a state of being bundled in a coil shape.

  In addition, the rocket 1 is in a vertically suspended state immediately after the parachute opening (see FIG. 1) at the stage of the parachute lowering in which the parachute 10 pulled out from the parachute storage portion 6 of the rocket main body 2 is opened and lowered. A posture changing device 20 for shifting from a state shown in (b) to a horizontally suspended state (state shown in FIG. 1D) suitable for landing is provided.

  Specifically, the suspension rope 11 is restrained by a portion (hereinafter referred to as a restraint point P) near the tail portion 4 of the rocket body 2, so that the rocket body 2 is vertically suspended along the vertical direction only by the suspension rope 11. On the other hand, by releasing the suspension cable 11 restrained at the restraint point P, the rocket body 2 is horizontally suspended by both the suspension cable 11 and the lateral suspension cable 12.

  As shown in FIGS. 2 and 3, the posture changing device 20 is a loop through which a suspension rope 11 that is housed in a coiled state in a parachute housing portion 6 in the body portion 5 of the rocket body 2 is inserted. The body 21, the hook 22 that is releasably locked to the loop body 21, and the hook 22 in a state where the suspension line 11 is pulled to the restraint point P of the rocket body 2 are locked to restrain the suspension line 11. A lock mechanism 30 for releasing the restraint of the suspension cable 11 by releasing the lock state of the hook 22 is provided, and the loop body 21 releases the parachute 10 from the parachute storage part 6 of the rocket body 2. It also functions as a guide for smoothly pulling the suspension cable 11 in a coiled state from the parachute storage unit 6.

  The lock mechanism 30 includes a servo motor 31 fixed to the bracket 9, an arm 32 fixed to the output shaft 31 a of the servo motor 31 and rotated within a range of an angle θ, and the rotation of the arm 32 in FIG. (A) A stopper 33 having a pin shape which reciprocates in the left-right direction, and a stopper receiver 34b whose base end portion is rotatably supported by the bracket 9 via a pin 34a and which is fitted to the stopper 33 at the distal end portion. Are formed, a torsion bar 35 supported by the bracket 9 and rotated together with the hook 22, and a second lever 36 having a base end portion fixed to the torsion bar 35.

  In the lock mechanism 30, in the locked state of the hook 22 shown by a solid line in FIG. 3 (the state in which the suspension cable 11 is drawn to the restraint point P of the rocket body 2), as shown by the phantom line in FIG. When the arm 32 is rotated in the direction of the arrow # 1 by the operation of FIG. 3, the stopper 33 moves to the left in FIG. 3A and disengages from the stopper receiver 34b of the first lever 34. By detaching from the first lever 34, the first lever 34 can be rotated in the direction of the arrow # 2, and then the second lever 36 can be rotated in the direction of the arrow # 3.

  Here, in the locked state of the hook 22, the loop body 21 is positioned at the restraint point P near the tail portion 4 of the rocket body 2, as shown in FIGS. 1B and 2. Of the separation load F generated in the suspension line 11 in the direction away from the tail 4 of the rocket body 2, that is, the separation load F and the tensile load R, which are component forces of the opening load T applied to the suspension line 11. A separation load F is applied.

  In other words, the lock mechanism 30 allows the torsion bar 35 and the hook 22 to rotate in the direction of the arrow # 3 together with the second lever 36 by the operation of the servo motor 31, and the loop body 21 is moved by the separation load F in FIG. b) The restraint of the suspension rope 11 is released by moving upward and detaching from the hook 22.

  Further, as shown in FIG. 2, the rocket 1 in this embodiment includes two suspension ropes 11 for connecting the head connecting portion 6F of the rocket main body 2 and the parachute 10, and the attitude changing device 20 includes: The two suspension ropes 11 and 11 are restrained at a restraint point P of the rocket body 2 at a distance from each other, so that the vertically suspended state along the vertical direction of the rocket body 2 is held unrotatable.

  In the rocket 1 of this embodiment, as shown in FIG. 1A, when the parachute 10 is released from the parachute storage part 6 of the trunk part 5 of the rocket body 2 falling along the vertical direction, the umbrella is opened. First, as shown in FIGS. 1B and 2, the intermediate portion of the suspension rope 11 that connects the parachute 10 released from the parachute storage portion 6 and the head connection portion 6 </ b> F of the rocket body 2 is positioned. The rocket body 2 is suspended by the loop body 21 of the conversion device 20 until the behavior of the rocket body 2 which is once restrained at the restraint point P of the rocket body 2 and shakes in response to the shock accompanying the opening of the parachute 10 is settled. 11 is suspended vertically along the vertical direction.

  When the parachute 10 is released from the parachute storage unit 6, the suspension cable 11 bundled in a coil shape follows the parachute 10 and is pulled out from the parachute storage unit 6. Since it functions also as a guide, the suspension cable 11 is smoothly pulled out from the parachute storage part 6 without being entangled.

  Next, when the behavior of the swinging rocket body 2 settles, the stopper 33 is detached from the stopper receiver 34b of the first lever 34 by the operation of the servo motor 31 of the lock mechanism 30 in the attitude changing device 20, and is virtually shown in FIG. As indicated by the line, the second lever 36 and the torsion bar 35 and the hook 22 are allowed to rotate in the direction of arrow # 3.

  Then, as shown in FIG. 1C due to the upward movement of FIG. 3B due to the separation load F of the loop body 21 in the posture changing device 20, the loop body 21 is detached from the hook 22 as shown in FIG. The suspension cable 11 restrained at the point P is opened, and the rocket body 2 is horizontally suspended by the suspension cable 11 and the lateral suspension cable 12 as shown in FIG.

  As described above, in the rocket 1 according to the above-described embodiment, when the parachute 10 is pulled out from the parachute storage part 6 of the trunk part 5 of the rocket body 2 and opened, the suspension cable 11 is moved to the rocket body by the attitude changing device 20. After temporarily restraining at the restraint point P of 2 and suspending the rocket main body 2 vertically, the attitude changing device 20 is operated to open the suspension cable 11 so that the rocket main body 2 is horizontally suspended horizontally. The behavior of the rocket body 2 is changed after the behavior of the rocket body 2 swaying under the impact of opening the parachute 10 is settled, and the lateral suspension cable 12 of the parachute 10 is entangled with the tail 8. Therefore, the parachute 10 can be lowered without hindrance.

  In the rocket 1 in this embodiment, the two suspension ropes 11 and 11 are restrained at a restraint point P of the rocket body 2 by the attitude changing device 20 so that the parachute 10 is opened. Thus, the vertical suspension state until the behavior of the rocket body 2 settles and the lateral suspension state after the posture change are maintained without rotating.

  Further, in the rocket 1 in this embodiment, as the attitude changing device 20, a loop body 21 through which the suspension cable 11 is inserted, a hook 22 that is detachably locked to the loop body 21, and locking and releasing of the hook 22 are performed. Therefore, the loop body 21 passed through the suspension cable 11 is drawn to the restraint point P of the rocket body 2 and the hook 22 is attached to the loop body 21. Since the suspension cable 11 can be restrained at the restraint point P simply by being locked, the posture changing device 20 can be simplified and downsized.

  In the above-described embodiment, the case where the flying object according to the present invention is the rocket 1 of the type that is recovered with the nozzle 7 serving as the propulsion unit after the combustion is attached is shown as an example, but the present invention is limited to this. Instead, the flying body according to the present invention may be a recovery rocket of a type that separates the propulsion unit that has completed combustion.

  The configuration of the flying object according to the present invention is not limited to the above-described embodiment.

1 Rocket (flying object)
2 Rocket body (aircraft body)
3 Head part of rocket body 4 Tail part of rocket body 5 Body part of rocket body 6 Parachute storage part 6F Head connection part (part near the head of the parachute storage part)
6R Tail connection part (part near the tail part of the parachute storage part)
DESCRIPTION OF SYMBOLS 10 Parachute 11 Suspension cable 12 Horizontal suspension cable 20 Posture change apparatus 21 Loop body 22 Hook 30 Lock mechanism P Restriction point (part near the tail part of a rocket body)

Claims (4)

A flying body that opens and drops the mounted parachute,
A flying body having a head and a tail;
A parachute housed in a parachute housing part formed on the trunk between the head and tail of the flying body;
A suspension rope that is housed in the parachute housing part and is connected to a portion near the head of the parachute housing part and the parachute;
A lateral suspension rope for connecting a middle portion of the suspension rope and a portion near the tail of the parachute storage portion;
In the parachute descending state in which the parachute pulled out from the parachute storage part of the flying body main body is opened and lowered, the suspension rope is restrained at a portion near the tail of the flying body main body, and only the suspension rope is used. From the stage of vertically suspending the flying body main body along the vertical direction, the suspension rope restrained at a portion near the tail of the flying body main body is opened, and the suspension rope and the lateral suspension rope are used. A flying object comprising a posture changing device that shifts the flying object body to a stage where the flying object body is horizontally suspended.   The two suspension cables are provided, and the posture changing device restrains the two suspension cables at a position near the tail of the flying body main body at a distance from each other, so that the vertical direction of the flying body main body The flying object according to claim 1, wherein the flying object is kept in a non-rotatable state.   The posture changing device includes a loop body through which the suspension line is inserted, a hook that is releasably locked to the loop body, and a hook in a state in which the suspension line is drawn to a portion near the tail of the flying body. The flying body main body generated in the suspension rope by locking the suspension rope and releasing the hook locked state and positioning the suspension rope near the tail of the flying body main body A locking mechanism for releasing the hook from the loop body by a separation load in a direction away from the tail portion of the flying body, wherein the loop body releases the parachute from the parachute storage portion of the flying body. The flying object according to claim 1 or 2, wherein the flying object also functions as a guide for the suspension rope that is pulled out from the storage portion following the parachute. A parachute opening method for a flying object according to any one of claims 1 to 3,
When the parachute pulled out from the parachute storage part of the flying body is opened and lowered,
The suspension cable is restrained by a portion near the tail of the flying object body by the posture changing device, and the flying object body is vertically suspended along the vertical direction only by the suspension cable,
Next, when the behavior of the flying body when the parachute is opened is settled, the posture changing device is operated to release the suspension cable restrained at a portion near the tail of the flying body. And a parachute opening method for the flying object, wherein the flying object body is horizontally suspended horizontally by the suspension cable and the horizontal cable.

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