JP7235245B2 - multicopter takeoff and landing gear - Google Patents

Description

The present invention relates to take-off and landing gear for multicopters.

Conventionally, a device disclosed in Patent Document 1 is known as a take-off and landing device for a multicopter. The device disclosed in Patent Document 1 includes an unmanned traveling vehicle and a helipad provided on the upper surface of the unmanned traveling vehicle.

WO2016/143806

The device disclosed in Patent Document 1 has rods for fixing the legs of the multicopter. However, since this rod has a structure for fixing the multicopter at a predetermined position, it cannot be applied to various multicopters of different sizes.
SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a take-off and landing gear for a multicopter capable of securely fixing leg portions of multicopters of various sizes.

The technical means of the present invention for solving this technical problem are characterized by the following points.
A multicopter take-off and landing device consists of a frame, a top plate supported on the frame and having an area where the multicopter can take off and land, and a multicopter provided on the top plate and landing on the top plate. a fixing part capable of fixing a pair of legs, wherein the fixing part comprises one fixing part capable of fixing one leg of the multicopter and the other fixing part capable of fixing the other leg of the multicopter. and an adjustment mechanism capable of adjusting a gap between the one fixing portion and the other fixing portion, wherein the one fixing portion and the other fixing portion have a mounting portion and a pressing portion, and the The mounting portion is formed in a cylindrical shape, and the pressing portion is provided below the mounting portion and is formed in a downward concave shape and has a groove on its lower surface. The adjustment mechanism has a fixed member fixed to the upper surface of the top plate and a support rod attached to the fixed member, and the support rod extends in the vertical direction It has a through hole and is detachably attached to the fixing member by a bolt inserted through the through hole so as to be spaced upward from the upper surface of the top plate and arranged above the ground portion. , extending from the fixed member to one side and the other side, respectively, and by inserting the support rod into the mounting portion formed in a cylindrical shape, the mounting portion of the one fixing portion is formed on one side of the support rod. is attached, and the attachment portion of the other fixing portion is attached to the other side of the support rod, and the one fixing portion and the other fixing portion are individually slidable along the support rod.

Further, the machine frame has a support frame that supports the top plate, and a plurality of support legs that support the support frame at a predetermined height. A storage space is formed that can accommodate the equipment necessary for
Further, the support leg extends linearly downward from the support frame.
Further, the top plate has an area on which the equipment can be placed, and the machine frame has a fixing mechanism for fixing the equipment to the area.

Further, the fixing mechanism has a locking portion capable of locking a string-like body for fixing the accessory to the area.
Further, the take-off and landing gear includes a hood structure having a cover member that covers an upper side of the multicopter that has landed on the top plate, and a support member that supports the cover member above the multicopter, and the aircraft frame Alternatively, the top plate is provided with a mounting portion for detachably mounting the support member.

In addition, the machine frame has a movable part that is movable with respect to the top plate, and the movable part has a first position where the area where the multicopter can take off and land is a first area, and the multicopter and a second position where the takeoff and landing area is a second area larger than the first area.
Also, the movable portion is foldable from the second position toward the first position.

Further, the movable portion is slidable between the first position and the second position.

According to the present invention, it is possible to adjust the distance between the one fixing portion capable of fixing one leg portion of the multicopter and the other fixing portion capable of fixing the other leg portion of the multicopter. It is possible to provide a take-off and landing gear for a multicopter whose legs can be reliably fixed.

It is a front view of the take-off and landing gear of the multicopter. 1 is a plan view of a take-off and landing gear of a multicopter; FIG. Fig. 3 is a side view of the take-off and landing gear of the multicopter; 1 is a perspective view showing an example of a multicopter; FIG. It is a front view of the main part of the multicopter. It is a side view of the main part of the multicopter. Fig. 3 is a front view of the fixed part of the take-off and landing gear; FIG. 11 is a front view showing an example of another embodiment of the adjustment mechanism; FIG. 10 is a plan view showing an example of another embodiment of the adjustment mechanism; It is a front view which shows the movable part of a machine frame. It is a top view which shows the movable part of a machine frame. It is a side view which shows the movable part of a machine frame. It is a front view which shows another embodiment of a movable part. FIG. 4 is a diagram showing a state in which the hood structure is attached to the take-off and landing gear; It is a figure which shows the state which mounted the machine frame on the truck which is a traveling body. It is a figure which shows the state which mounted the machine frame on the carrier of the vehicle which is a traveling body. It is a top view which shows the equipment accommodated in the accommodation space. FIG. 4 is a diagram showing a state in which a bogie on which a machine frame is mounted is connected to the rear part of a towing vehicle; It is a side view of a truck. It is a top view of a truck. It is a front view of a truck. It is a figure which shows a connection mechanism.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 to 3, a multicopter take-off and landing gear 1 includes a frame 2, a top plate 3, and a fixing portion 4. As shown in FIGS. Hereinafter, for convenience of explanation, the direction of arrow F in FIGS. 1 to 3 is referred to as forward, the direction of arrow B is referred to as rearward, the direction of arrow L is referred to as left, and the direction of arrow R is referred to as right. Further, the direction of arrow W is referred to as the machine frame width direction.

<Take-off and landing gear (machine frame, top plate)>
The machine frame 2 has a support frame 5 that supports the top plate 3 and a plurality of support legs 6 that support the support frame 5 at a predetermined height. The top plate 3 is attached so as to cover the upper surface of the support frame 5 . However, in FIG. 2, for convenience of illustration, the support frame 5 covered with the top plate 3 is also indicated by a solid line.
The support frame 5 has a first frame member 5A, a second frame member 5B, a third frame member 5C, and a fourth frame member 5D. The first frame member 5A is arranged on the left side of the support frame 5. As shown in FIG. The second frame member 5B is arranged on the right side of the support frame 5. As shown in FIG. A third frame member 5</b>C is arranged in front of the support frame 5 . A fourth frame member 5</b>D is arranged at the rear portion of the support frame 5 .

The first frame member 5A and the second frame member 5B extend parallel to each other in the front-rear direction. The third frame member 5C and the fourth frame member 5D extend parallel to each other in the machine frame width direction.
As shown in FIG. 2, the first frame member 5A, the second frame member 5B, the third frame member 5C, and the fourth frame member 5D are combined to form a square when viewed from above. The support frame 5 also includes a first connection frame member 5E that connects the first frame member 5A and the second frame member 5B, and a second connection frame member that connects the third frame member 5C and the fourth frame member 5D. 5F. The second connecting frame member 5F includes a left connecting frame member 5FL and a right connecting frame member 5FR. The left connection frame member 5FL connects the left portion of the third frame member 5C and the left portion of the fourth frame member 5D. The right connection frame member 5FR connects the right portion of the third frame member 5C and the right portion of the fourth frame member 5D.

As shown in FIGS. 1 and 2, the support leg 6 extends linearly downward from the support frame 5 . The support leg 6 includes a first support leg 6A, a second support leg 6B, a third support leg 6C, and a fourth support leg 6D. The first support leg 6A extends downward from the left front corner of the support frame 5 . The second support leg 6B extends downward from the right front corner of the support frame 5 . The third support leg 6C extends downward from the left rear corner of the support frame 5 . The fourth support leg 6</b>D extends downward from the right rear corner of the support frame 5 .

As shown in FIGS. 1 and 3, the machine frame 2 has a lower frame 7 that connects the lower ends of the support legs 6 to each other. The lower frame 7 has a first lower frame member 7A, a second lower frame member 7B, a third lower frame member 7C, and a fourth lower frame member 7D. In FIGS. 1 to 3, the first lower frame member 7A, the second lower frame member 7B, the third lower frame member 7C, and the fourth lower frame member 7D, which are hidden by overlapping other frame members, are indicated by dashed lines. line is attached. The first lower frame member 7A, the second lower frame member 7B, the third lower frame member 7C, and the fourth lower frame member 7D are combined to form a square when viewed from above. The support frame 5 and the lower frame 7 have the same shape and size, and are arranged parallel to each other with a space therebetween in the vertical direction.

The first lower frame member 7A connects the first support leg 6A and the third support leg 6C. The second lower frame member 7B connects the second support leg 6B and the fourth support leg 6D. The third lower frame member 7C connects the first support leg 6A and the second support leg 6B. The fourth lower frame member 7D connects the third support leg 6C and the fourth support leg 6D.
The top plate 3 is supported on the machine frame 2 (specifically, on the support frame 5). The top plate 3 is fixed to the support frame 5 with bolts or the like so as to cover the top of the support frame 5 . The top plate 3 is a plate with a flat or substantially flat upper surface, and has at least an area in which the multicopter can take off and land. The planar view shape of the top plate 3 is set according to the planar view shape of the support frame 5 . In the case of this embodiment, since the plan view shape of the support frame 5 is a quadrilateral, the plan view shape of the top plate 3 is also a quadrilateral. However, the shape of the top plate 3 and the plan view shape of the support frame 5 are not limited to quadrilaterals, and may be other shapes such as hexagons, octagons, circles, and ellipses.

<Multicopter>
4 to 6 show an example of the multicopter 60. FIG. The configuration of the multicopter 60 is not limited to the illustrated configuration.
The multicopter 60 is a rotary wing aircraft capable of unmanned flight with a plurality of rotary wings, and is a flying object called a drone, for example. The multicopter 60 may fly by remote control using wireless or wired communication, or may fly by autonomous control without relying on a remote device.

The multicopter 60 has a body 61 and a working device 66 .
First, the body 61 will be explained. Airframe 61 has main body 62 , arms 63 , rotor blades 64 and legs (skids) 65 .
The main body 62 includes a case 67 (hereinafter referred to as "first case 67") and an electrical component 68 (hereinafter referred to as "first electrical component 68").

The first case 67 is a box that constitutes the outer shell of the main body 62 and has an internal space that can be sealed. A first electrical component 68 is housed in the internal space of the first case 67 . That is, the periphery of the first electrical component 68 is covered with the first case 67 .
The first electrical component 68 is an electrical component that controls the flight of the multicopter 60, and includes, for example, a GPS antenna, a control device 90, various sensors (gyro sensor, acceleration sensor, etc.). The control device 90 is a computer including a CPU, a storage unit 90a, and the like, and controls flight based on the altitude of the aircraft 61 detected by the altitude detection device 91 and the like.

A plurality of arms 63 are attached to the body 62 . In this embodiment, four arms 63 are attached to the body 62 . The four arms 63 radially extend from the center of the main body 62 within a horizontal plane (a plane parallel to the ground in the landing state). However, the number of arms 63 is not limited to four, and may be five or more, or may be three or less. Also, the arm 63 may be configured to be foldable toward the main body 62 side.

A base end side of the arm 63 is attached to the main body 62 . The tip side of the arm 63 is bifurcated (Y-shaped) in the middle. Rotor blades 64 are attached to the distal end sides of the plurality of arms 63, respectively.
The rotor blades 64 generate lift for the multicopter 60 to fly. The rotor blade 64 is composed of a rotor 69 and blades (propellers) 70 . The rotor 69 is composed of an electric motor. The rotor 69 is driven by electric power supplied from a battery 71, which will be described later. A blade 70 is attached to the upper portion of the rotating shaft of the rotor 69 . Adjacent rotor blades 64 rotate in opposite directions to each other. The number of rotor blades 64 is not particularly limited, and can be changed according to the required lift and the like. For example, the multicopter 60 may be a tricopter with three rotors 64, a quadcopter with four rotors 64, or a hexacopter with six rotors 64. , or an octocopter with eight rotors 64 .

The legs 65 touch the ground when the multicopter 60 lands and support the main body 62 above the landing surface. The leg portion 65 includes a pair of leg portions 65L and 65R. Specifically, the leg portion 65 includes a leg portion 65L provided on the left side of the main body 62 and a leg portion 65R provided on the right side of the main body 62 . The legs 65L and 65R have a downwardly extending portion 65a extending downward from the main body 62 and a grounding portion 65b provided at the lower end of the downwardly extending portion 65a. The ground contact portion 65b of the leg portion 65L and the ground contact portion 65b of the leg portion 65R extend in the front-rear direction in parallel with each other.

A mounting portion 72 is provided below the main body 62 . The mounting portion 72 detachably supports the work device 66 between the leg portion 65L and the leg portion 65R.
Next, the work device 66 will be described.
The work device 66 is a device that performs work related to agriculture. In the case of this embodiment, the working device 66 is a spraying device and has a tank 73 containing liquid.

As shown in FIGS. 5 and 6, the tank 73 is attached to an attachment portion 72 provided below the main body 62 . The tank 73 is detachable from the mounting portion 72 . Note that the tank 73 may be formed integrally with the mounting portion 72 . The mounting portion 72 is a rail having an L-shaped cross section. Attached portions 73 a projecting outward in the width direction from the sides of the tank 73 are suspended from the attaching portions 72 . In FIG. 6 , the solid line indicates the attached state of the tank 73 , and the imaginary line indicates the state in which the tank 73 is slid in the direction (indicated by arrow B) in which the tank 73 is separated from the attaching portion 72 .

The tank 73 has a container 74 and a lid 75 .
Container 74 defines an interior space in which the liquid to be applied to the farm is contained. Liquids are, for example, chemicals such as agricultural chemicals, dilution chemicals, fertilizers, water, and the like. The container 74 has a supply portion 76 on the upper surface of the container 74 for supplying liquid to the internal space. The supply part 76 has a tubular body 76 a that protrudes cylindrically from the upper surface of the container 74 . A lid 75 is detachably attached to the cylindrical body 76a by screws or the like. The medicine or the like stored in the tank 73 is supplied from the tank 73 to the pump 77 .

As shown in FIG. 6 , an electrical component 78 (hereinafter referred to as “second electrical component 78 ”) different from the first electrical component 68 is attached to the fuselage 61 . The second electrical component 78 is detachably arranged below the main body 62 and below the rotor blade 64 . The second electrical component 78 includes an energy supply section 71 that supplies energy to the rotor 69 of the rotor blade 64 . In this embodiment, the energy supply unit 71 includes a battery 71 that supplies power. When the blades 70 are rotated by the engine instead of the rotor 69 of the rotor blades 64, the energy supply unit 71 is a gasoline tank containing gasoline.
As shown in FIGS. 5 and 6, the second electrical component 78 is partly or wholly housed in a case 79 (hereinafter referred to as "second case 79") different from the first case 67. As shown in FIG. The second case 79 is provided below the main body 62 .

<Take-off and landing gear (fixed part)>
As shown in FIG. 1, the fixed part 4 of the take-off and landing gear 1 can fix a pair of leg parts 65L and 65R of a multicopter 60 that has landed on the top plate 3. As shown in FIG. As shown in FIGS. 1 to 3 and 7, the fixed portion 4 has one fixed portion 4L, the other fixed portion 4R, and an adjustment mechanism 8. As shown in FIGS. On the other hand, the fixing portion 4L can fix one leg portion 65L of the multicopter 60. As shown in FIG. The other fixing portion 4R can fix the other leg portion 65R of the multicopter 60 . The adjustment mechanism 8 is a mechanism capable of adjusting the distance between the one fixing portion 4L and the other fixing portion 4R.

As shown in FIG. 7, one fixing portion 4L has a mounting portion 4La and a pressing portion 4Lb. The mounting portion 4La is formed in a tubular shape. The pressing portion 4Lb is provided below the mounting portion 4La. The pressing portion 4Lb has a groove portion 4Lc extending in the front-rear direction on the lower surface thereof, and is formed in a downward concave shape. The ground portion 65b of the leg portion 65L can be fitted into the groove portion 4Lc.

The other fixing portion 4R has an attachment portion 4Ra and a pressing portion 4Rb. The mounting portion 4Ra is formed in a tubular shape. The pressing portion 4Rb is provided below the mounting portion 4Ra. The pressing portion 4Rb has a groove portion 4Rc extending in the front-rear direction on the lower surface thereof, and is formed in a downward concave shape. The ground portion 65b of the leg portion 65R can be fitted into the groove portion 4Rc.
As shown in FIGS. 2 and 3 , the adjustment mechanism 8 has a first adjustment section 9 and a second adjustment section 10 . A one-side fixing portion 4L is provided on the left portion of the first adjusting portion 9 and the left portion of the second adjusting portion 10, respectively. The other fixing portion 4R is provided on the right portion of the first adjusting portion 9 and the right portion of the second adjusting portion 10, respectively. The first adjusting portion 9 and the second adjusting portion 10 are arranged with a space therebetween in the front-rear direction. The first adjusting portion 9 is arranged forward of the center of the top plate 3 in the front-rear direction. The second adjustment portion 10 is arranged behind the center of the top plate 3 in the front-rear direction. The configuration of the first adjusting section 9 and the configuration of the second adjusting section 10 are the same.

As shown in FIG. 7 , the first adjusting section 9 and the second adjusting section 10 have a fixing member 11 fixed to the top plate 3 and a support rod 12 attached to the fixing member 11 . The fixing member 11 is fixed to the upper surface of the top plate 3 by bolts, welding, or the like. The support rod 12 is attached to the fixed member 11 by means of attachments (bolts 13 and wing nuts 14). Specifically, the support rod 12 is formed with a through hole extending in the vertical direction, and the bolt 13 is inserted through the through hole from below. A tip (upper end) of the bolt 13 protrudes upward from the support rod 12, and a wing nut 14 is screwed to the protruding portion. The support rod 12 extends from the fixed member 11 to one side (left side) and the other side (right side). The support rod 12 is arranged above the upper surface of the top plate 3 so as to be separated therefrom.

On one side (left side) of the support rod 12, an attachment portion 4La of the one fixing portion 4L is attached. An attachment portion 4Ra of the other fixing portion 4R is attached to the other side (right side) of the support rod 12 . Specifically, the support rod 12 is inserted through the tubular mounting portion 4La and the mounting portion 4Ra. As a result, the one fixing portion 4L and the other fixing portion 4R are slidable along the support rod 12, as indicated by an arrow C in FIG.

As shown in FIGS. 1 and 7, the grounding portion 65b of the leg portion 65L is fitted into the groove portion 4Lc of the pressing portion 4Lb, the grounding portion 65b of the leg portion 65R is fitted into the groove portion 4Rc of the pressing portion 4Rb, and the wing nut 14 is attached. By tightening the bolts 13, the leg portions 65L and 65R can be fixed to the fixed portion 4. As shown in FIG.
The fixed portion 4L has a positioning portion 4Ld for fixing the position of the fixed portion 4L with respect to the support rod 12. As shown in FIG. The other fixing portion 4R has a positioning portion 4Rd that fixes the position of the other fixing portion 4R with respect to the support rod 12. As shown in FIG. Since the configuration of the positioning portion 4Ld and the configuration of the positioning portion 4Rd are the same, the configuration of the positioning portion 4Ld will be described as a representative.

The positioning portion 4Ld has a female threaded portion 4a formed on the upper portion of the mounting portion 4La and a set screw 4b screwed into the female threaded portion 4a. By rotating the set screw 4b to move it downward with respect to the female threaded portion 4a and pressing the tip (lower end) of the set screw 4b against the support rod 12, the fixing portion 4L cannot slide along the support rod 12. becomes. As a result, the one fixing portion 4L can be positioned with respect to the support rod 12. As shown in FIG. Similarly, the other fixing portion 4R can be positioned with respect to the support rod 12 by the positioning portion 4Rd.

According to the adjustment mechanism 8 described above, by sliding the one fixing portion 4L and the other fixing portion 4R along the support rod 12, the interval between the one fixing portion 4L and the other fixing portion 4R can be adjusted. Further, the one fixing portion 4L and the other fixing portion 4R can be positioned with the gap adjusted. Therefore, by adjusting the interval between the one fixing portion 4L and the other fixing portion 4R according to the interval between the leg portions 65L and 65R of the multicopter 60, the interval between the pair of legs (the leg portion 65L and the leg portion 65R) can be securely fixed.

The configuration of the adjustment mechanism 8 is not limited to the configuration described above, and other configurations may be adopted as long as the interval between the one fixing portion 4L and the other fixing portion 4R can be adjusted.
8 and 9 show an example of another embodiment of the adjustment mechanism 8. FIG. The adjusting mechanism 8 of this another embodiment is called a second adjusting mechanism 8A. The second adjusting mechanism 8A will be described below, but the description of the same configuration as that of the adjusting mechanism 8 described above will be omitted.

As shown in FIG. 9, the second adjustment mechanism 8A has a first adjustment section 9A and a second adjustment section 10A. The first adjusting portion 9A and the second adjusting portion 10A are arranged with a space therebetween in the front-rear direction. The first adjustment portion 9A is arranged forward of the center of the top plate 3 in the front-rear direction. The second adjustment portion 10A is arranged behind the center of the top plate 3 in the front-rear direction. The configuration of the first adjustment section 9A and the configuration of the second adjustment section 10A are the same.

As shown in FIG. 8, the first adjusting portion 9A and the second adjusting portion 10A have a fixing member 11A fixed to the top plate 3 and a support rod 12A attached to the fixing member 11A. The fixing member 11A is fixed to the upper surface of the top plate 3 by bolts, welding, or the like. The fixed member 11A is provided with a support shaft 15 supported by a bearing or the like. The fixing member 11A is rotatable about an axis in the front-rear direction. The support rod 12A is composed of one support rod 12AL extending to one side (left side) from the fixed member 11A and another support rod 12AR extending to the other side (right side). The support rod 12A is attached to the support shaft 15 at the base end portion 12a on the fixed member 11A side. As a result, the support rod 12A can rotate upward or downward using the support shaft 15 as a fulcrum (see arrow D in FIG. 8).

The second adjustment mechanism 8A has a receiving member 22 that receives the support rod 12A in a downwardly rotated state (horizontal state). The receiving member 22 is attached to the top surface of the top plate 3 . Although not shown, the support rod 12A is provided with an engaging portion, and the receiving member 22 is provided with an engaged portion. By engaging the engaging portion with the engaged portion while the support rod 12A is rotated downward, the support rod 12A is stopped by the receiving member 22 and prevented from rotating upward. Become. By releasing the engagement of the engaging portion with the engaged portion, the support rod 12A can be rotated upward.

The attachment portion 4La of the one-side fixed portion 4L is attached to one side (left side) of the one-side support rod 12AL. The attachment portion 4Ra of the other fixing portion 4R is attached to the other side (right side) of the other support rod 12AR. Specifically, the support rod 12A is inserted through the tubular mounting portion 4La and the mounting portion 4Ra. As a result, the one fixing portion 4L and the other fixing portion 4R can slide along the support rod 12A (see arrow E in FIG. 8).

Further, the one fixing portion 4L has a positioning portion 4Ld for fixing the position of the one fixing portion 4L with respect to the support rod 12A. The other fixing portion 4R has a positioning portion 4Rd for fixing the position of the other fixing portion 4R with respect to the support rod 12A.
According to the second adjustment mechanism 8A described above, the support rod 12A is rotated downward to fit the grounding portion 65b of the leg portion 65L into the groove portion 4Lc of the pressing portion 4Lb, and the leg portion 65R is inserted into the groove portion 4Rc of the pressing portion 4Rb. The leg portions 65L and 65R can be fixed to the fixing portion 4 by engaging the engaging portion with the engaged portion after fitting the ground portion 65b. Also, by sliding the one fixing portion 4L and the other fixing portion 4R along the support rod 12A, the one fixing portion 4L and the other fixing portion 4R are moved in accordance with the gap between the leg portions 65L and 65R of the multicopter 60. You can adjust the distance between

<Take-off and landing gear (moving parts)>
As shown in FIGS. 10 to 12, the machine frame 2 preferably has a movable portion 16 that can move with respect to the top plate 3. As shown in FIGS. The movable part 16 has a first position P1 where the first area is the area where the multicopter 60 can take off and land, and a second position P2 where the second area where the multicopter 60 can take off and land is larger than the first area. can be moved to That is, by moving the movable portion 16, the area of the top plate 3 can be changed. FIG. 2 shows the state where the multicopter 60 can take off and land as the first area, and FIG. 11 shows the state where the multicopter 60 can take off and land as the second area.

As shown in FIG. 11 , the movable portion 16 is connected to the edge of the machine frame 2 by hinges 53 . The movable portion 16 is rotatable around a hinge shaft oriented in the horizontal direction, and can move between a first position P1 and a second position P2 by rotating. The movable part 16 changes its position with respect to the top plate 3 by moving between the first position P1 and the second position P2.
The movable portion 16 has a movable frame 16A configured by combining frame materials, and a movable plate 16B fixed to the surface (upper surface) of the movable frame 16A. The movable plate 16B is arranged side by side with the top plate 3 provided on the machine frame 2 when it is at the second position P2.

In the case of this embodiment, the shape of the movable portion 16 is quadrangular in plan view, but may be any shape such as a triangle or a semicircle. The upper surface of the movable plate 16B forms a surface (horizontal surface) that is flush with the top plate 3 when the movable portion 16 is at the second position P2. As shown in FIG. 10, the movable portion 16 is supported from below by the reinforcing member 17 when it is at the second position P2.
As shown in FIG. 11 , the movable portion 16 includes a first movable portion 161 , a second movable portion 162 and a third movable portion 163 . The first movable portion 161 is connected to the rear portion of the machine frame 2 (support frame 5). The second movable portion 162 is connected to the left portion of the machine frame 2 (support frame 5). The third movable portion 163 is connected to the right portion of the machine frame 2 (support frame 5). As shown in FIGS. 10 to 12, the first movable portion 161, the second movable portion 162, and the third movable portion 163 can be folded from the second position P2 toward the first position P1. In the case of this embodiment, the first movable portion 161 can be folded downward, and the second movable portion 162 and the third movable portion 163 can be folded upward.

FIG. 13 shows another embodiment of the movable part 16. As shown in FIG. In this embodiment, the movable portion 16 is slidable between the first position P1 and the second position P2. A rail (not shown) is attached to the machine frame 2 to guide the sliding movement of the movable portion 16, and the movable portion 16 moves along the rail to move between the first position P1 and the second position P2. can be moved with

<Take-off and landing gear (canopy structure)>
As shown in FIG. 14, it is preferable that the take-off/landing gear 1 can be attached with a hood structure 18 . The canopy structure 18 has a cover member 18A that covers the multicopter 60 that has landed on the top plate 3 and a support member 18B that supports the cover member 18A above the multicopter 60 . The support member 18B has a column 18B1 and an upper frame 18B2.

The column 18B1 is detachably attached to a mounting portion 19 provided on the machine frame 2 or the top plate 3. As shown in FIG. The mounting portions 19 are, for example, cylindrical bodies provided at four corners of the machine frame 2 or the top plate 3, and the lower ends of the columns 18B1 are inserted into and fixed to the cylindrical bodies. As a result, the struts 18B1 are erected at four corners (left front, right front, left rear, right rear) of the machine frame 2 or the top plate 3, respectively.

The upper frame B2 is configured by connecting the upper portions of the support columns 18B1, and is configured to have a quadrangular shape in plan view. However, it is preferable that the plan view shape of the upper frame B2 is matched with the plan view shape of the top plate 3 . In the case of this embodiment, since the top plate 3 has a rectangular shape in plan view, the upper frame B2 also has a rectangular shape in plan view.
The cover member 18A is attached to the upper frame B2 so as to cover the upper frame B2 from above. The cover member 18A is, for example, a sheet member made of synthetic resin, cloth, or the like. The cover member 18A has only to have a size (area) that can cover at least the upper part of the multicopter 60 that has landed on the top plate 3, and is large enough to cover the entire upper part of the top plate 3. is preferred.

The cover member 18A may cover not only the upper portion of the multicopter 60 that has landed on the top plate 3, but also the surroundings (sides) thereof. In this case, the cover member 18A not only covers the upper portion of the upper frame B2, but also covers the space between the adjacent struts 18B1 (for example, between the left front strut and the left rear strut, between the right front strut and the right rear strut). pillars, between the left front pillar and the right front pillar, and between the left rear pillar and the right rear pillar).
The cover member 18A has a function of protecting the multicopter 60 landed on the top plate 3 and the equipment 80 to be described later from the wind and rain.

<Running body>
As shown in FIGS. 15 and 16 , the take-off/landing gear 1 includes a traveling body 20 that can travel together with the frame 2 .
In the case of the embodiment shown in FIG. 15, the traveling body 20 is a truck 21 on which the machine frame 2 can be mounted. As shown in FIG. 18 , the truck 21 can travel by being towed by a towing vehicle 30 .
The towing vehicle 30 is not particularly limited as long as it can tow the truck 21, but in the case of this embodiment, it is a tractor. A towing vehicle (tractor) 30 includes a vehicle body 31 , front wheels 32 , rear wheels 33 , a driver's seat 34 and a coupling mechanism 35 . The vehicle body 31 is configured by connecting a prime mover (engine) 36, a clutch housing 37 having a clutch, a transmission case 38 having a transmission, and the like.

The prime mover 36 is mounted on the vehicle body 31 and arranged at the front portion of the vehicle body 31 . The clutch housing 37 is connected to the rear part of the engine 36 and accommodates the clutch. The transmission case 38 is connected to the rear portion of the clutch housing 37 and extends rearward. The transmission case 38 houses a transmission, a rear wheel differential, and the like. A PTO shaft 39 protrudes behind the transmission case 38 .

The connecting mechanism 35 is provided at the rear portion of the towing vehicle 30 . The connecting mechanism 35 is a mechanism for connecting the carriage 21 to the rear portion of the towing vehicle 30 . The connection mechanism 35 can also connect a work device (cultivator, etc.) that performs work on a field or the like. As shown in FIG. 22, the connecting mechanism 35 is composed of a link mechanism such as a three-point link mechanism, and can connect the carriage 21 and the working device so that they can move up and down.

The link mechanism that constitutes the coupling mechanism 35 has a top link 35a, left and right lower links 35b, left and right lift arms 35c, and left and right lift rods 35d. A front end portion of the lift arm 35c is supported by a rear upper portion of the transmission case 38 so as to be capable of swinging upward or downward. The lift arm 35c swings (moves up and down) by driving the lift cylinder 35e. The lift cylinder 35e is composed of a hydraulic cylinder. The lift cylinder 35e is connected to the pump of the hydraulic system via a control valve. The control valve is a solenoid valve controlled by a controller.

A front end portion of the lower link 35b is supported by a lower rear portion of the transmission case 38 so as to be able to swing upward or downward. A front end portion of the top link 35a is supported by the rear portion of the transmission case 38 above the lower link 35b so as to be able to swing upward or downward. The lift rod 35d connects the lift arm 35c and the lower link 35b. A truck 21 is connected to the rear portion of the lower link 35b and the rear portion of the top link 35a. When the lift cylinder 35e is driven (extended and retracted), the lift arm 35c moves up and down, and the lower link 35b connected to the lift arm 35c via the lift rod 35d moves up and down. As a result, the carriage 21 swings (elevates) upward or downward using the front portion of the lower link 35b as a fulcrum. When the connecting mechanism 35 moves up and down the truck 21, the top plate 3 on the machine frame 2 mounted on the truck 21 is kept horizontal.

Rotational power from the prime mover 36 can be taken out of the towing vehicle 30 via the PTO shaft 39 . The rotational power extracted to the outside of the towing vehicle 30 via the PTO shaft 39 can be used to drive a generator 85 of the equipment 80, which will be described later, or to drive a working device connected to the connecting mechanism 35.
As shown in FIGS. 19 to 21, the carriage 21 has a mounting table 40, wheels 41, and connecting portions 42. As shown in FIGS.

The mounting table 40 has a lower frame 43 and a front frame 44 . The lower frame body 43 has a first lower frame member 43A, a second lower frame member 43B, a third lower frame member 43C, and a fourth lower frame member 43D which are combined in a square shape in plan view. The first lower frame member 43A and the second lower frame member 43B, and the third lower frame member 43C and the fourth lower frame member 43D are connected by a lower connecting member 43E. A mounting plate 45 is fixed to the upper portion of the lower frame 43 . The machine frame 2 can be placed on the upper surface of the placing plate 45 .

The front frame 44 extends upward from the front portion of the lower frame 43 . The front frame body 44 has a first front frame member 44A, a second front frame member 44B, a third front frame member 44C, and a fourth front frame member 44D that are combined to form a square shape when viewed from the front. The first front frame member 44A extends upward from the left front portion of the lower frame body 43 . The second front frame member 44B extends upward from the right front portion of the lower frame body 43 . The third front frame member 44C connects the upper end portion of the first front frame member 44A and the upper end portion of the second front frame member 44B. The fourth front frame member 44D connects the lower end portion of the first front frame member 44A and the lower end portion of the second front frame member 44B. The third front frame member 44C and the fourth front frame member 44D are connected by vertical connection members 46L and 46R. The vertical connecting members 46L and 46R are arranged parallel to each other and connected by a horizontal connecting member 47. As shown in FIG.

As shown in FIGS. 19 and 20, the mounting table 40 includes a front-rear middle portion of the first lower frame member 43A and an upper portion of the first front frame member 44A, and a front-rear middle portion of the second lower frame member 43B and a second lower frame member 43B. Diagonal members 48 may be provided to connect the upper portions of the front frame members 44B.
The wheels 41 are attached to the lower portion of the lower frame 43 via brackets 49 . The bracket 49 supports the wheel 41 so as to be rotatable about the vertical axis. The wheels 41 and brackets 49 constitute casters.

The connecting portion 42 is a portion connected to the connecting mechanism 35 of the towing vehicle 30 . The connecting portion 42 is provided on the upper portion of the front frame 44 . The connecting portion 42 has an upper connecting portion 42A connected to the top link 35a, a left connecting portion 42B connected to the left lower link 35b, and a right connecting portion 42C connected to the right lower link 35b.
The upper connecting portion 42A has a left member 42A1, a right member 42A2, and a connecting shaft 42A3. The left member 42A1 and the right member 42A2 are arranged parallel to each other and extend upward and forward from the front frame 44 . The connecting shaft 42A3 connects the left member 42A1 and the right member 42A2.

The left connecting portion 42B has a left plate 42B1 and a left shaft 42B2. The right connecting portion 42C has a right plate 42C1 and a right shaft 42C2. The left plate 42B1 is connected to the vertical connection member 46L. The right plate 42C1 is connected to the vertical connection member 46R. The left plate 42B1 and the right plate 42C1 protrude forward from the vertical connection members 46L and 46R. The left shaft 42B2 protrudes leftward from the left plate 42B1. The right shaft 42C2 protrudes rightward from the right plate 42C1. The left plate 42B1 and the left member 42A1 are connected by a left connector 50L. The right plate 42C1 and the right member 42A2 are connected by a right connector 50R.

As shown in FIG. 18, the connecting portion 42 has an upper connecting portion 42A connected to the top link 35a. The left connecting portion 42B has a left shaft 42B2 connected to the left lower link 35b. The right connecting portion 42C has a right shaft 42C2 connected to the right lower link 35b. As a result, the connecting portion 42 is connected to the connecting mechanism 35 of the towing vehicle 30 , and the truck 21 can travel as the towing vehicle 30 travels. By driving the lift cylinder 35e of the coupling mechanism 35 of the towing vehicle 30, the truck 21 can be raised and lowered. The machine frame 2 can be moved together with the traveling body 20 by being mounted on the mounting table 40 of the carriage 21 .

In the case of the embodiment shown in FIG. 16, the traveling body 20 is a vehicle 51 having a loading platform 52 on which the machine frame 2 can be mounted. The vehicle 51 is, for example, a truck, preferably a light truck (a truck manufactured according to light vehicle standards). The machine frame 2 can move together with the traveling body 20 by being mounted on the loading platform 52 of the traveling body 20 (vehicle 51).

<Fixing equipment, etc.>
As shown in FIGS. 15 to 17, between the plurality of support legs 6 (the area surrounded by the plurality of support legs 6), there is a storage space S1 that can store equipment 80 necessary for flight of the multicopter 60. It is formed. FIG. 17 shows an accommodation space S1 formed below the top plate 3 on the machine frame 2 in a plan view.

Equipment 80 includes at least a drug container 81 containing a drug and a dilution water container 82 containing dilution water for diluting the drug. As shown in FIG. 17 and the like, in the case of this embodiment, equipment 80 includes, in addition to drug container 81 and dilution water container 82, battery 83 mounted on multicopter 60 (battery for replacement with battery 71). , a charger 84 capable of charging the battery 83 with electric power, a generator 85 generating electric power for charging the charger 84, and a fuel tank 86 containing fuel for driving the generator 85.

The accommodation space S1 is formed between the first support leg 6A and the second support leg 6B and the third support leg 6C and the fourth support leg 6D in the width direction W of the machine frame. The accommodation space S1 is formed between the first support leg 6A and the third support leg 6C and the second support leg 6B and the fourth support leg 6D in the front-rear direction. The accommodation space S1 is formed between the installation surface G1 of the machine frame 2 and the top plate 3 in the vertical direction. The installation surface G1 is the top surface of the loading platform 52 (see FIG. 16), the top surface of the mounting table 40 (see FIG. 15), or the like, and may be the ground. The accommodation space S1 is formed in a region surrounded by the first lower frame member 7A, the second lower frame member 7B, the third lower frame member 7C, and the fourth lower frame member 7D in plan view.

As shown in FIG. 15, the top plate 3 has a region R1 on which equipment 80 can be placed. The area R1 has an area on which at least part of the equipment 80 can be placed. This region R1 can be enlarged by moving the movable portion 16 to the second position (indicated by phantom lines), as shown in FIG. The equipment 80 placed in the region R1 may be a part of the equipment 80 housed in the housing space S1, or may be equipment different from the equipment 80 housed in the housing space S1. good too. The equipment 80 placed on the area R1 is, for example, an antenna 97, a liquid container 98 (bucket), a tripod 99, and the like.

As shown in FIGS. 2 and 3, the machine frame 2 has a fixing mechanism 87 for fixing the equipment 80 to the region R1 on the top plate 3. As shown in FIG. The fixing mechanism 87 has a locking portion 88 capable of locking a string-like body 89 (see FIG. 2) for fixing the accessory 80 to the region R1. The string-like body 89 preferably has elasticity (stretchability), and for example, a rubber band is preferably used. The engaging portion 88 is composed of a frame body fixed to the upper portion or the lower portion of the support frame 5 , and the shaped body 89 can be inserted through and locked to the frame member. The locking portions 88 are provided at multiple locations on the support frame 5 . In the case of the present embodiment, the locking portions 88 are provided at a plurality of locations on the first frame member 5A and the second frame member 5B of the support frame 5 at intervals in the front-rear direction.

In the case of this embodiment, the engaging portion 88 includes an intermediate engaging portion 88A arranged between the first adjusting portion 9 and the second adjusting portion 10 in the front-rear direction, and an intermediate engaging portion 88A arranged forward of the first adjusting portion 9. and a rear engaging portion 88C arranged behind the second adjusting portion 10. As shown in FIG. The intermediate engaging portion 88A includes a first intermediate engaging portion 88A1 arranged forward of the center of the top plate 3 in the front-rear direction, and a second intermediate engaging portion 88A1 arranged behind the center of the top plate 3 in the front-rear direction. 88A2 and.

As shown by the phantom lines in FIG. 2, the string-like body 89 is locked to the front locking portion 88B provided on the first frame member 5A and the front locking portion 88B provided on the second frame member 5B. Thus, the string-like body 89 can be extended in the machine frame width direction W in the front region R11 on the top plate 3 . Therefore, the string-like body 89 can press and fix the equipment placed on the front region R11 on the top plate 3 from above.

As shown by phantom lines in FIG. 2, the string-like body 89 is locked to the rear locking portion 88C provided on the first frame member 5A and the rear locking portion 88C provided on the second frame member 5B. Thus, the string-like body 89 can be extended in the machine frame width direction in the rear region R12 on the top plate 3 . Therefore, the string-like body 89 can press and fix the equipment placed on the rear region R12 on the top plate 3 from above.

In addition, the multicopter 60 is locked by the string-like body 89 locked to the first intermediate locking portion 88A1 provided on the first frame member 5A and the first intermediate locking portion 88A1 provided on the second frame member 5B. The front portions of the legs 65L and 65R can be pressed from above and fixed. The leg of the multicopter 60 is secured by the string-like body 89 engaged with the second intermediate engaging portion 88A2 provided on the first frame member 5A and the second intermediate engaging portion 88A2 provided on the second frame member 5B. The rear portions of the portions 65L and 65R can be pressed from above and fixed.

With the legs 65 of the multicopter 60 fixed on the top plate 3 by the fixing part 4 and the equipment 80 fixed on the top plate 3 by the fixing mechanism 87, the multicopter 60 is lifted, and the machine frame 2 is fixed. And the equipment 80 can be lifted together with the top plate 3. Here, the machine frame 2 does not have a portion that enters the accommodation space S1 (passes through the accommodation space S1) when the multicopter 60 is raised. Specifically, since the support legs 6 extend linearly downward from the support frame 5, when the machine frame 2 rises together with the multicopter 60, the equipment 80 accommodated in the accommodation space S1 is supported. It does not hit against the leg 6 and hinder the ascent.

As described above, the take-off/landing gear 1 is provided with the fixing portion 4 and the fixing mechanism 87 , so that the equipment 80 can be moved (raised) together with the machine frame 2 by the multicopter 60 . Therefore, the work of moving (unloading) the equipment 80 can be performed by the multicopter 60 without relying on human power, and the labor of the operator can be reduced. In particular, when the machine frame 2 is mounted on the loading platform 52, the equipment 80 placed on the top plate 3 is at a high position from the ground, so it takes a great deal of effort to manually unload it. Labor can be reduced by unloading together with the machine frame 2 by the copter 60 . In addition, by fixing the leg portion 65 of the multicopter 60 to the top plate 3 using the fixing mechanism 87 in addition to the fixing portion 4, the multicopter 60 and the top plate 3 are firmly fixed. When the copter 60 is lifted, the top plate 3 is prevented from coming off and dropping together with the machine frame 2 and the equipment 80. - 特許庁Therefore, even if the equipment 80 is heavy, the equipment 80 can be reliably lifted together with the multicopter 60 and unloaded from the loading platform or the like.

<effect>
According to the takeoff/landing device 1 of the multicopter 60 of the above embodiment, the following effects are obtained.
The take-off and landing gear 1 of the multicopter 60 includes a frame 2, a top plate 3 supported on the frame 2 and having an area where the multicopter 60 can take off and land, and a top plate 3 provided on the top plate 3. a fixing portion 4 capable of fixing a pair of leg portions 65 of the multicopter 60 that has landed; and an adjusting mechanism 8 capable of adjusting the interval between the one fixing portion 4L and the other fixing portion 4R.

According to this configuration, it is possible to adjust the distance between the one fixing portion 4L capable of fixing one leg portion 65 of the multicopter 60 and the other fixing portion 4R capable of fixing the other leg portion 65. It is possible to provide the take-off and landing gear 1 for the multicopter 60 that can reliably fix the leg portion 65 of the multicopter 60.
The machine frame 2 has a support frame 5 that supports the top plate 3 and a plurality of support legs 6 that support the support frame 5 at a predetermined height. A storage space S1 is formed in which equipment 80 necessary for the flight of the aircraft can be stored.

According to this configuration, the equipment 80 required for flight of the multicopter 60 can be accommodated in the accommodation space S1 formed between the plurality of support legs 6, so the equipment 80 can be placed on the top plate 3. A large number of accessories 80 can be arranged in the installation space of the machine frame 2 without securing a space for placing them.
Further, the support leg 6 extends linearly downward from the support frame 5 .

According to this configuration, when the machine frame 2 rises together with the multicopter 60, the accessories 80 housed in the housing space S1 do not hit the support legs 6 and hinder the rise.
The top plate 3 has a region R1 on which the equipment 80 can be placed, and the machine frame 2 has a fixing mechanism 87 for fixing the equipment 80 to the region R1.
According to this configuration, by fixing the leg portion 65 of the multicopter 60 to the fixing portion 4 and fixing the equipment 80 to the area R1 on the top plate 3, the equipment can be lifted together with the machine frame 2 as the multicopter 60 rises. 80 can be lifted and transported. Therefore, the work of moving (unloading) the equipment 80 from the carrier or the like can be performed by the multicopter 60 without relying on human power, and the labor of the operator can be reduced.

The fixing mechanism 87 also has a locking portion 88 capable of locking a string-like body 89 for fixing the accessory 80 to the region R1.
According to this configuration, by locking the string-like body 89 to the locking portion 88, the accessory 80 can be easily and reliably fixed to the region R1.
The take-off and landing gear 1 also includes a hood structure 18 having a cover member 18A that covers the upper side of the multicopter 60 that has landed on the top plate 3, and a support member 18B that supports the cover member 18A above the multicopter 60. In addition, the machine frame 2 or the top plate 3 is provided with a mounting portion 19 for detachably mounting the support member 18B.

According to this configuration, the cover member 18A can protect the multicopter 60 landed on the top plate 3 and the equipment 80 arranged on the top plate 3 or in the storage space S1 from the weather.
In addition, the machine frame 2 has a movable portion 16 that is movable with respect to the top plate 3. The movable portion 16 has a first position P1 whose first area is an area where the multicopter 60 can take off and land, and a multicopter 60 is movable to a second position P2 where the takeoff and landing area is a second area larger than the first area.

According to this configuration, by moving the movable portion 16, the area in which the multicopter 60 can take off and land can be expanded as necessary.
Also, the movable portion 16 can be folded from the second position P2 toward the first position P1.
According to this configuration, the movable portion 16 can be folded toward the first position when it is not necessary to expand the area where the multicopter 60 can take off and land. without getting in the way.

Further, the movable portion 16 is slidable between the first position P1 and the second position P2.
According to this configuration, when the multicopter 60 does not need to expand the takeoff and landing area, the movable portion 16 can be slid toward the first position. It does not get in the way when
Although the embodiments of the present invention have been described above, the embodiments disclosed this time should be considered as examples in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

1 Takeoff and landing gear 2 Machine frame 3 Top plate 4 Fixed part 4L One fixed part 4R Other fixed part 5 Support frame 6 Support leg 8 Adjustment mechanism 16 Movable part 18 Top structure 18A Cover member 18B Support member 19 Attachment part 60 Multicopter 65 Leg Part 65L One leg 65R The other leg 80 Equipment 87 Fixing mechanism 88 Locking part 89 String-like body P1 First position P2 Second position R1 Region S1 Storage space

Claims (9)

machine frame and
a top plate supported on the machine frame and having an area in which the multicopter can take off and land;
a fixing part provided on the top plate and capable of fixing a pair of legs of the multicopter that has landed on the top plate;
with
The fixed part is
a one fixing part capable of fixing one leg of the multicopter;
a second fixing portion capable of fixing the other leg portion of the multicopter;
an adjustment mechanism capable of adjusting the distance between the one fixing portion and the other fixing portion;
has
The one fixing portion and the other fixing portion each have a mounting portion and a pressing portion,
The mounting portion is formed in a cylindrical shape,
The holding portion is provided below the mounting portion, and is formed in a downward concave shape and has a groove on the lower surface, and the grounding portion of the leg can be fitted into the groove,
The adjustment mechanism has a fixed member fixed to the upper surface of the top plate and a support rod attached to the fixed member,
The support rod has a through hole extending in the vertical direction, and is arranged above the grounding portion so as to be spaced upward from the upper surface of the top plate, and is attached to the fixing member by a bolt inserted through the through hole. is detachably attached to and extends from the fixed member to one side and the other side,
By inserting the supporting rod into the mounting portion formed in a cylindrical shape, the mounting portion of the one fixing portion is mounted on one side of the supporting rod, and the mounting portion of the other fixing portion is mounted on the other side of the supporting rod. A take-off and landing device for a multicopter, wherein a mounting portion is attached, and the one fixing portion and the other fixing portion are individually slidable along the support rod. The machine frame has a support frame that supports the top plate and a plurality of support legs that support the support frame at a predetermined height,
2. A multicopter take-off and landing device according to claim 1, wherein an accommodation space is formed between said plurality of support legs to accommodate equipment necessary for flight of said multicopter. 3. The take-off and landing device for a multicopter according to claim 2, wherein said support leg extends linearly downward from said support frame. The top plate has a region on which the equipment can be placed,
The multicopter take-off and landing device according to any one of claims 1 to 3, wherein the frame has a fixing mechanism for fixing the equipment to the area. 5. The take-off and landing device for a multicopter according to claim 4, wherein said fixing mechanism has a locking portion capable of locking a string-like body for fixing said accessory to said area. A hood structure having a cover member that covers above the multicopter that has landed on the top plate, and a support member that supports the cover member above the multicopter,
The multicopter take-off and landing device according to any one of claims 1 to 5, wherein the machine frame or the top plate is provided with a mounting portion for detachably mounting the support member. The machine frame has a movable portion movable with respect to the top plate,
The movable part has a first position where the area where the multicopter can take off and land is a first area, and a second position where the area where the multicopter can take off and land is a second area larger than the first area. The multicopter take-off and landing device according to any one of claims 1 to 6, which is movable. 8. The take-off and landing device for a multicopter according to claim 7, wherein the movable portion is foldable from the second position toward the first position. 8. The take-off and landing device for a multicopter according to claim 7, wherein said movable portion is slidable between said first position and said second position.

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