Cargo support device and unmanned cargo handler

Abstract

The present application provides a kind of goods support device and unmanned goods carrier.Goods support device has: base, install small unmanned aerial vehicle in upper portion;Ground contact portion, in the state of landing, contact with landing surface;Goods support portion, it is set in the lower side of the base, support goods;Drive portion, by operating in first state, the goods support portion is moved to the goods side, by operating in second state, the goods support portion is moved to the opposite side of the goods;Limiting portion, independently with the drive portion, in the state that the ground contact portion contacts with landing surface, allow the operation of the drive portion, in the state that the ground contact portion separates from landing surface, limit the operation of at least the second state of the drive portion.

Description

Technical Field

[0001] This invention relates to cargo support devices and unmanned cargo handling machines. Background Technology

[0002] International Publication No. 2020 / 194533 discloses a handling device that supports containers or the like on the underside of a small drone and moves the containers or the like.

[0003] However, in transport devices that transport goods by air, such as the transport device described in International Publication No. 2020 / 194533, it is desirable to prevent or suppress the falling of goods during flight. Summary of the Invention

[0004] In view of the above facts, the present invention aims to provide a cargo support device and an unmanned cargo handling machine that can prevent or suppress cargo from falling during flight.

[0005] The first-form cargo support device includes: a base on which a small drone is mounted; a grounding part that contacts a landing surface in a landing state; a cargo support part disposed below the base to support cargo; a drive unit that moves the cargo support part toward the cargo side by operating in a first state and moves the cargo support part toward the opposite side of the cargo by operating in a second state; and a limiting part disposed independently of the drive unit that allows the drive unit to operate when the grounding part is in contact with the landing surface and restricts the operation of the drive unit in at least the second state when the grounding part is separated from the landing surface.

[0006] According to the first embodiment of the cargo support device, when the ground contact is with the landing surface, if the drive unit operates in a first state, the cargo support unit moves towards the cargo side. This allows the cargo to be supported by the cargo support unit. Furthermore, when the ground contact is with the landing surface, if the drive unit operates in a second state, the cargo support unit moves towards the opposite side of the cargo. This allows the cargo to detach from the cargo support unit. Here, in the state where the ground contact is with the landing surface, the limiting unit allows the drive unit to operate. Conversely, in the state where the ground contact is separated from the landing surface, the limiting unit restricts the operation of the drive unit in at least the second state. Therefore, in the state where the ground contact is separated from the landing surface, the movement of the cargo support unit towards the opposite side of the cargo can be prevented or suppressed. As a result, it is possible to prevent or suppress the cargo from falling during flight.

[0007] The second type of cargo support device is based on the first type of cargo support device, wherein the limiting part includes: a drive-side limiting part configured to be displaceable between a first position and a second position, the first position being a position that restricts the operation of the drive part in at least a second state, and the second position being a position that allows the operation of the drive part; a grounding-side limiting part disposed on the grounding part; and a connecting part connecting the drive-side limiting part to the grounding-side limiting part. When the grounding-side limiting part contacts the landing surface, the connecting part displaces, and the drive-side limiting part displaces from the first position to the second position. When the grounding-side limiting part separates from the landing surface, the connecting part displaces, and the drive-side limiting part displaces from the second position to the first position.

[0008] According to the second embodiment of the cargo support device, when the ground contact side restrictor contacts the landing surface, the connecting part displaces, and the drive side restrictor displaces from a first position to a second position. With the drive side restrictor in the second position, the restrictor allows the drive unit to operate. Conversely, when the ground contact side restrictor separates from the landing surface, the connecting part displaces, and the drive side restrictor displaces from the second position to the first position. With the drive side restrictor in the first position, the restrictor restricts the operation of the drive unit in at least a second state. This prevents or suppresses cargo falling during flight.

[0009] The third type of cargo support device is based on the second type of cargo support device, wherein the cargo support device further includes a force-applying member that always applies force to the drive-side limiting part toward the first position side.

[0010] According to the third embodiment of the cargo support device, the drive-side restraint is always subjected to force by the force-applying member toward the first position side. Therefore, for example, even if the ground-side restraint or connection malfunctions, it is possible to prevent or suppress cargo from falling during flight.

[0011] The fourth type of cargo support device is based on the second type of cargo support device, wherein the drive-side limiting part has a pressing part, and the pressing part is pressed against the member constituting the drive part when the drive-side limiting part is in the first position, thereby limiting the operation of the drive part by pressing the pressing part against the member constituting the drive part.

[0012] According to the cargo support device of the fourth form, the operation of the drive unit can be restricted by pressing the pressing part of the drive unit side restriction part against the member constituting the drive unit.

[0013] The fifth type of cargo support device is based on the second type of cargo support device. In this type, the drive unit side limiting part has a first ratchet tooth that protrudes toward the drive unit side. The drive unit has a second ratchet tooth that protrudes toward the drive unit side limiting part and meshes with the first ratchet tooth of the drive unit side limiting part located at the first position. When the first ratchet tooth and the second ratchet tooth are engaged, the operation of the drive unit in the second state is restricted. When the drive unit operates in the first state while the first ratchet tooth and the second ratchet tooth are engaged, the second ratchet tooth passes over the first ratchet tooth, thereby allowing the drive unit to operate in the first state.

[0014] According to the fifth embodiment of the cargo support device, by engaging the first ratchet tooth of the drive unit-side limiting portion with the second ratchet tooth of the drive unit, the operation of the drive unit in the second state can be restricted. Moreover, even if the first ratchet tooth of the drive unit-side limiting portion engages with the second ratchet tooth of the drive unit, the operation of the drive unit in the first state can still be permitted.

[0015] The sixth type of cargo support device is based on the second type of cargo support device, wherein the drive unit side limiting part includes: a fixed cam part, configured to be unable to move relative to the base; a movable cam part, connected to the connecting part and configured to be displaceable relative to the base; and a insertion part, protruding from the drive unit and inserted into the fixed cam part and the movable cam part. When the movable cam part is positioned in a position where the movement of the insertion part is limited by both the fixed cam part and the movable cam part, the operation of the drive unit is restricted. When the movable cam part is positioned in a position where the insertion part can move along both the fixed cam part and the movable cam part, the operation of the drive unit is permitted.

[0016] According to the sixth embodiment of the cargo support device, the movable cam is positioned in a location where the movement of the insertion portion of the drive unit is limited by both the fixed cam and the movable cam, thereby restricting the operation of the drive unit. Conversely, the movable cam is positioned in a location where the insertion portion of the drive unit can move along both the fixed cam and the movable cam, thereby allowing the operation of the drive unit.

[0017] The seventh type of unmanned cargo handling machine includes: a small unmanned aerial vehicle (UAV); a base on which the UAV is mounted; a grounding part that contacts a landing surface in the landing state; a cargo support part disposed below the base to support the cargo; a drive unit that moves the cargo support part toward the cargo side by operating in a first state and moves the cargo support part toward the opposite side of the cargo by operating in a second state; and a limiting part disposed independently of the drive unit that allows the drive unit to operate when the grounding part is in contact with the landing surface and restricts the operation of the drive unit in at least the second state when the grounding part is separated from the landing surface.

[0018] According to the seventh embodiment of the unmanned cargo handling machine, a small unmanned aerial vehicle (UAV) can transport supported cargo. Furthermore, according to the seventh embodiment, when the ground contact is with the landing surface, if the drive unit operates in a first state, the cargo support unit moves towards the cargo side. Thus, the cargo can be supported by the cargo support unit. Moreover, when the ground contact is with the landing surface, if the drive unit operates in a second state, the cargo support unit moves towards the opposite side of the cargo. Thus, the cargo can be separated from the cargo support unit. Here, in the state where the ground contact is with the landing surface, the limiting unit allows the drive unit to operate. Conversely, in the state where the ground contact is separated from the landing surface, the limiting unit restricts the operation of the drive unit in at least the second state. Therefore, in the state where the ground contact is separated from the landing surface, the movement of the cargo support unit towards the opposite side of the cargo can be prevented or suppressed. As a result, it is possible to prevent or suppress the cargo from falling during flight.

[0019] [Invention Effects]

[0020] The cargo support device and unmanned cargo handling machine of the present invention have the excellent effect of preventing or suppressing cargo from falling during flight. Attached Figure Description

[0021] Exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings, wherein:

[0022] Figure 1 This is a 3D diagram representing an unmanned cargo handling machine;

[0023] Figure 2 This is a 3D diagram showing an unmanned cargo handling machine, illustrating the cargo support device supporting the cargo.

[0024] Figure 3 This is a three-dimensional diagram showing the cargo support device;

[0025] Figure 4 This is a top view of the cargo support device, omitting the illustration of the plate;

[0026] Figure 5 This is a perspective view of the cargo support device viewed from above, omitting the illustration of the plate.

[0027] Figure 6 It is an enlarged perspective view showing the area near the rotating support.

[0028] Figure 7 It is a three-dimensional view showing the cargo support device and the cargo, indicating the state of each support leg before it supports the cargo;

[0029] Figure 8 This is a top view of the cargo support device and cargo, omitting the illustration of the plates, showing the state of the cargo before each leg supports it.

[0030] Figure 9 It is a three-dimensional view showing the cargo support device and the cargo, illustrating the state of each support leg supporting the cargo;

[0031] Figure 10 This is a top view of the cargo support device and cargo, omitting the illustration of the plates, showing the state of each leg supporting the cargo.

[0032] Figure 11 It is a bottom view of the cargo support device and the cargo as seen from below;

[0033] Figure 12 Is with Figure 11 The corresponding bottom view omits the illustration of the goods;

[0034] Figure 13 It is Figure 11 An enlarged perspective view of the area near the rotating support in the desired state;

[0035] Figure 14 It is a bottom view of the cargo support device and the cargo as seen from below;

[0036] Figure 15 Is with Figure 14 The corresponding bottom view omits the illustration of the goods;

[0037] Figure 16 It is Figure 14 An enlarged perspective view of the area near the rotating support in the desired state;

[0038] Figure 17 This is an enlarged side view of the part of the cargo support device with the grounding side restriction, showing the landing state of the unmanned cargo handling vehicle;

[0039] Figure 18 This is a top view showing an enlarged view of the portion of the cargo support device equipped with the drive unit side restriction, illustrating the landing state of the unmanned cargo handling vehicle;

[0040] Figure 19 This is an enlarged side view of the part of the cargo support device with the grounding side restriction, showing the unmanned cargo handling vehicle in flight;

[0041] Figure 20 This is a top view showing an enlarged view of the portion of the cargo support device equipped with the drive unit side restriction, illustrating the flight state of the unmanned cargo handling vehicle;

[0042] Figure 21 This is a top view schematically representing another type of limiting part, showing the state where the first ratchet tooth and the second ratchet tooth are separated;

[0043] Figure 22 This is a top view schematically representing another type of limiting part, showing the state in which the first ratchet tooth and the second ratchet tooth are engaged;

[0044] Figure 23 This is a perspective view schematically representing another type of limiting part, showing the state in which the movement of the insertion part is limited by the fixed cam part and the movable cam part;

[0045] Figure 24 This is a perspective view schematically representing another type of limiting part, showing the state in which the insertion part can move along the fixed cam part and the movable cam part; and

[0046] Figure 25 This is a perspective view schematically representing another type of limiting part, showing the state in which the insertion part can move along the fixed cam part and the movable cam part. Detailed Implementation

[0047] use Figures 1-6 This describes an unmanned cargo handling machine 10 according to an embodiment of the present invention.

[0048] like Figure 1 and Figure 2 As shown, the unmanned cargo handling machine 10 of this embodiment is composed of a small drone 12 and a cargo support device 14 installed below the small drone 12.

[0049] like Figure 1 , Figure 3 , Figure 4 and Figure 5As shown, the cargo support device 14 includes: an aircraft fixing part 16 for securing the small drones 12; and a pair of grounding parts 18 that contact the landing surface when in the landing state. It should be noted that in this embodiment, six small drones 12 are fixed to the aircraft fixing part 16. Furthermore, the pair of grounding parts 18 includes: a grounding part body 18A extending horizontally and contacting the landing surface; and a central support leg 18B extending upward from the center of the grounding part body 18A along its length. The upper end of the central support leg 18B is connected to the lower part of the aircraft fixing part 16. It should be noted that the landing surface is the surface on which the unmanned cargo handling machine 10 lands, such as the ground, a drone airport, the roof of a vehicle, or a shelf.

[0050] In addition, the cargo support device 14 includes a base plate 20 disposed on the lower side of the aircraft fixing part 16 and connected to the aircraft fixing part 16. Furthermore, the cargo support device 14 includes four support legs 22 as cargo support parts, four linear guides 24 as first support parts, a linkage mechanism 26, and an actuator 28.

[0051] like Figure 3 As shown, the plate 20 is formed as a plate with its thickness along the vertical direction, and has a roughly rectangular shape with each side of the rectangle curving inward when viewed from above. Support legs 22 are installed at the four corners of the plate 20.

[0052] The outrigger 22 includes: two abutment portions 22A spaced apart in a horizontal direction orthogonal to the vertical direction; an upper connecting portion 22B connecting the upper ends of the two abutment portions 22A horizontally; and a lower connecting portion 22C connecting the lower ends of the two abutment portions 22A horizontally. The two abutment portions 22A are formed as cylindrical rods with the vertical direction as their axial direction. The upper connecting portion 22B is formed as a plate extending horizontally in the vertical direction as its thickness direction. The upper end of one abutment portion 22A is fixed to one end of the upper connecting portion 22B, and the upper end of the other abutment portion 22A is fixed to the other end of the upper connecting portion 22B. The lower connecting portion 22C is formed as a plate extending horizontally in the vertical direction as its thickness direction. The lower end of one abutment portion 22A is fixed to one end of the lower connecting portion 22C, and the lower end of the other abutment portion 22A is fixed to the other end of the lower connecting portion 22C. Here, as... Figure 2 As shown, the lower connecting portion 22C serves as the part that supports the cargo 30 from below. Furthermore, the two abutment portions 22A serve as the parts that support the cargo 30 from the side. It should be noted that the four support legs 22 each have the same structure.

[0053] like Figure 3 and Figure 4As shown, the linear guide 24 is formed as a plate extending horizontally in the thickness direction with the vertical direction as the top and bottom. Viewed from above, the linear guide 24 has a rectangular shape. Furthermore, the four linear guides 24 are fixed to the plate 20 with their respective corners positioned below the plate 20. When viewed from above, the length direction of each of the four linear guides 24 faces the center (center) of the plate 20. The four linear guides 24 support four legs 22 via sliding portions 42 and rotating support portions 44, which will be described later. Each leg 22 can move along the linear guide 24 from the corner of the plate 20 towards the center, and can also move from the center of the plate 20 towards the corner.

[0054] The linkage mechanism 26 includes: a central link 32 positioned on the lower side of the center of the plate 20 when viewed from above; and four outer links 34 each connected to the central link 32. Figure 4 and Figure 5 As shown, the central connecting rod 32 includes: a rotating portion 32A rotatably supported on the plate 20 with the vertical direction as the axial direction; and four protruding arms 32B extending outward from the rotating portion 32A in the rotational radial direction. The four protruding arms 32B are arranged with spacing along the rotational circumference of the rotating portion 32A. The ends of the four protruding arms 32B on the side opposite to the rotating portion 32A are respectively connected to the ends of one side of the four outer connecting rods 34 via ball joints. The ends of the four outer connecting rods 34 on the other side are respectively connected to the four sliding brackets 46 described later via ball joints.

[0055] like Figure 5 As shown, actuator 28, as an example, is a motor actuator that rotates the output shaft 28A. This actuator 28 is configured on plate 20 (see reference 20). Figure 3 The actuator 28 is fixed to the plate 20 at its upper side. A first rod 36 is fixed to the output shaft 28A of the actuator 28. The first rod 36 is inserted through an opening formed in the plate 20. Thus, the end of the first rod 36 opposite to the output shaft 28A is located on the lower side relative to the plate 20. Moreover, the end of the first rod 36 opposite to the output shaft 28A is connected to one end of the second rod 38 via a ball joint. And the other end of the second rod 38 is connected to the protruding arm 32B of the central connecting rod 32 via a ball joint. Thus, the output shaft 28A of the actuator 28 and the central connecting rod 32 are connected via the first rod 36 and the second rod 38. As a result, the central connecting rod 32 rotates in conjunction with the rotation of the output shaft 28A of the actuator 28. Here, the actuator 28, the first rod 36, the second rod 38, the central connecting rod 32, and the four outer connecting rods 34 constitute a drive unit 40 that moves each leg 22 toward the cargo 30 or the opposite side of the cargo 30.

[0056] As previously described, the outrigger 22 is supported on the linear guide 24 via the sliding portion 42 and the swivel support portion 44, etc. More specifically, as... Figure 6 As shown, the support leg 22 is supported on the linear guide 24 via a sliding part 42, a sliding bracket 46, and a swivel support 44. The sliding part 42 engages with the linear guide 24. This sliding part 42 slides (moves) along the length direction of the linear guide 24. Furthermore, the sliding bracket 46 is fixed at the lower part of the sliding part 42. Figure 5 As shown, the end of the sliding bracket 46 opposite to the sliding portion 42 is connected to the other end of the outer connecting rod 34 via a ball joint. Furthermore, a swivel support portion 44, serving as a second support, protrudes downwards from the lower part of the sliding bracket 46. This swivel support portion 44 engages with the central portion of the upper connecting portion 22B of the support leg portion 22 along its length, thereby supporting the support leg portion 22 in a manner that allows it to rotate axially in the vertical direction.

[0057] A rotation limiting spring 48, serving as a rotation limiting component, is provided between the upper connecting portion 22B of the outrigger 22 and the sliding bracket 46. The rotation limiting spring 48 is, for example, a torsion spring. A rotation support portion 44 is inserted through the rotation limiting spring 48. Furthermore, one end 48A of the rotation limiting spring 48 is engaged with a hole formed in the upper connecting portion 22B. The other end 48B of the rotation limiting spring 48 is engaged with a hole formed in the sliding bracket 46. The deformation of the rotation limiting spring 48 allows the outrigger 22 to rotate axially in the vertical direction.

[0058] (The function and effects of this implementation method)

[0059] Next, the function and effects of this implementation method will be explained.

[0060] like Figure 1 and Figure 2 As shown, in the unmanned cargo handling machine 10 of this embodiment, when the grounding part 18 is in contact with the landing surface (unmanned cargo handling machine 10 is in the landing state), the cargo support device 14 can support the cargo 30.

[0061] In detail, Figure 7 and Figure 8 In the shown state, the rectangular cargo 30 is positioned below the plate 20, and each support leg 22 is separated from the cargo 30. In this state, each support leg 22 is restrained by a rotational limiting spring 48 (see reference). Figure 6The legs 22 are kept in a fixed posture. This limits unnecessary rotation of each leg 22 in the up-down direction when it is not supporting the cargo 30. It should be noted that the posture of each leg 22 relative to each linear guide 24 when it is not supporting the cargo 30 is called "standard posture A1".

[0062] Here, the cargo 30 has a rectangular upper surface 30A and a lower surface 30B (see reference). Figure 11 The four sides 30C connect the upper surface 30A and the lower surface 30B in the vertical direction. The two sides 30C with the smaller horizontal dimension are called the first sides 30C1, and the two sides 30C with a horizontal dimension larger than the first sides 30C1 are called the second sides 30C2. It should be noted that... Figures 7-11 The cargo 30 shown is a standard aspect ratio cargo 30 with the ratio of the dimension in the horizontal direction of the first side 30C1 to the dimension in the horizontal direction of the second side 30C2 (hereinafter referred to as "aspect ratio") set to a defined aspect ratio.

[0063] like Figure 5 As shown, when the output shaft 28A of the actuator 28 rotates to one side (in the direction of arrow C1) and the central connecting rod 32 rotates to one side (in the direction of arrow C2), the four outer connecting rods 34 pull the four sliding brackets 46. As a result, each support leg 22 moves towards the cargo 30. It should be noted that the operating state of the drive unit 40 generated by rotating the output shaft 28A of the actuator 28 to one side (in the direction of arrow C1) is referred to as the "operating state when supporting cargo," which is the first state.

[0064] like Figure 9 and Figure 10 As shown, when each leg 22 moves toward the cargo 30, the two abutting portions 22A of each leg 22 abut against the adjacent first side 30C1 and second side 30C2, respectively. Here, as... Figure 10 , Figure 11 , Figure 12 and Figure 13 As shown, in the case of a cargo 30 with a standard aspect ratio, each leg 22 hardly rotates from the standard position A1. That is, in this embodiment, the standard position A1 of each leg 22 is set corresponding to a cargo 30 with a standard aspect ratio. It should be noted that in Figure 12 and Figure 13 The illustration of cargo 30 is omitted in the text.

[0065] like Figure 9 , Figure 11 and Figure 12As shown, when the two abutting portions 22A of each leg 22 abut against the adjacent first side 30C1 and second side 30C2 respectively, the lower connecting portion 22C of each leg 22 is arranged along the lower surface 30B of the cargo 30. Thus, the four corner portions 30D of the cargo 30 are supported by each leg 22.

[0066] In addition, such as Figure 2 As shown, when each small drone 12 is in operation, each small drone 12 flies together with the cargo support device 14. Thus, the cargo 30 supported on the cargo support device 14 can be transported by air.

[0067] It should be noted that, in the landing state of the unmanned cargo handling vehicle 10, if... Figure 5 As shown, the output shaft 28A of the actuator 28 rotates to the opposite side (opposite to the direction of arrow C1). Consequently, when the central connecting rod 32 rotates to the opposite side (opposite to the direction of arrow C2), the four outer connecting rods 34 press against the four sliding brackets 46. This causes each support leg 22 to move to the opposite side of the cargo 30. As a result, the cargo 30 supported on each support leg 22 can be unloaded from the cargo support device 14. It should be noted that the operating state of the drive unit 40 generated by rotating the output shaft 28A of the actuator 28 to the opposite side (opposite to the direction of arrow C1) is referred to as the second state, the "unloading operating state".

[0068] Figure 14 The cargo 30 shown is a flat cargo with a horizontal dimension where the dimension of the first side 30C1 is smaller than the horizontal dimension of the first side 30C1 of a standard cargo 30. The operation of each leg 22 when supporting the flat cargo 30 will be described below.

[0069] like Figure 14 , Figure 15 and Figure 16 As shown, when each outrigger 22 moves toward the cargo 30 side, firstly, the contact portion 22A of one outrigger 22 abuts against the first side surface 30C1. With the contact portion 22A of one outrigger 22 abutting against the first side surface 30C1, as each outrigger 22 moves further toward the cargo 30 side, each outrigger 22 rotates from the standard posture A1 toward one side (the direction of arrow C3). It should be noted that when each outrigger 22 rotates from the standard posture A1 toward one side, the rotation limiting spring 48 (see reference...) Figure 6Deformation. When each leg 22 rotates from the standard position A1 to one side, the other abutment portion 22A of the leg 22 abuts against the second side surface 30C2. When the two abutment portions 22A of each leg 22 abut against the adjacent first side surface 30C1 and second side surface 30C2 respectively, the lower connecting portion 22C of each leg 22 is arranged along the lower surface 30B of the flat aspect ratio cargo 30. Thus, the four corner portions 30D of the flat aspect ratio cargo 30 are supported by each leg 22.

[0070] As described above, the cargo support device 14 of the unmanned cargo handling machine 10 in this embodiment can support cargo 30 of different sizes and shapes (length-to-width ratios).

[0071] Furthermore, starting from the state where the four corner portions 30D of the flat aspect ratio cargo 30 are supported by each leg 22, when each leg 22 moves to the opposite side of the flat aspect ratio cargo 30, the flat aspect ratio cargo 30 supported by each leg 22 is unloaded from the cargo support device 14. At this time, each leg 22 returns to the standard posture A1 by the restoring force (acting force) of the rotation limiting spring 48. Thus, in this embodiment, when each leg 22 leaves the cargo 30, it is possible to return each leg 22 to the standard posture A1.

[0072] It should be noted that in this embodiment, an example is described using a rotation limiting spring 48 to suppress unnecessary rotation of each leg 22, but the invention is not limited to this. For example, unnecessary rotation of each leg 22 can also be suppressed by providing a rotation limiting part that causes friction between the upper connecting part 22B of the leg 22 and the sliding bracket 46.

[0073] (A structure used to prevent or suppress cargo from falling during flight)

[0074] Next, the structure for preventing or suppressing the falling of cargo 30 during the flight of the unmanned cargo handling machine 10 will be described.

[0075] like Figure 17 and Figure 18 As shown, the cargo support device 14 of the unmanned cargo handling machine 10 of this embodiment described above includes a limiting part 50 for preventing or suppressing the falling of cargo 30 during flight. The limiting part 50 includes a grounding-side limiting part 52 provided on the grounding part 18, a drive-side limiting part 53 provided on the drive part 40 side, and a connecting part 54 connecting the grounding-side limiting part 52 and the drive-side limiting part 53.

[0076] like Figure 17As shown, the grounding-side limiting part 52 includes: a base 56 fixed to the junction of the grounding body 18A and the central support leg 18B of one grounding part 18; and a grounding arm 58 supported on the base 56. An outer tube locking part 56A is provided on the base 56 to lock one end of the outer tube 64 (described later). One end of the grounding arm 58 is rotatably connected to the lower end of the base 56 via a pin (not shown) in a horizontal direction. Furthermore, one end of the wire rope 66 (described later) is locked to the other end of the grounding arm 58. A protrusion 58A protruding downwards is formed at the midpoint between the one end and the other end of the grounding arm 58.

[0077] like Figure 18 As shown, the drive-side limiting part 53 is supported on the plate 20 (see reference). Figure 3 The pressing arm 60 includes: a pressing portion 60A that is generally C-shaped when viewed from above; and a tongue-shaped extension 60B extending from one end of the pressing portion 60A. The end of the extension 60B opposite to the pressing portion 60A is rotatably connected to the plate 20 (see reference 20) via a pin (not shown) in the vertical direction. Figure 3 Furthermore, the pressing part 60A and the rotating part 32A of the central connecting rod 32 are arranged opposite each other radially along the rotating part 32A. Moreover, the end of the pressing part 60A on the side opposite to the extension part 60B is engaged with the other end of the wire rope 66 (described later). Additionally, the end of the pressing part 60A on the side opposite to the extension part 60B is engaged with one end of the pressing spring 62, which serves as a force-applying member. Furthermore, the other end of the pressing spring 62 is engaged with the plate 20 (see reference). Figure 3 A spring retainer (not shown) is provided. As a result, the pressing arm 60 is always subjected to force by the pressing spring 62 toward the rotating part 32A of the central connecting rod 32.

[0078] like Figure 17 and Figure 18 As shown, the connecting part 54 includes an outer tube 64 formed in a tubular shape and a steel wire rope 66 inserted through the outer tube 64. Figure 17 As shown, one end of the outer tube 64 is secured to the outer tube locking part 56A provided in the base 56. Furthermore, as... Figure 18 As shown, the other end of the outer tube 64 is secured to the plate 20 (see reference). Figure 3 ) Fixed outer tube clamping part 68. (e.g.) Figure 17 As shown, one end of the wire rope 66 is secured to the other end of the grounding arm 58. Furthermore, as... Figure 18 As shown, the other end of the wire rope 66 is locked to the end of the pressing part 60A of the pressing arm 60 on the side opposite to the extension part 60B.

[0079] In this embodiment, which includes the limiting part 50 described above, such as Figure 17 As shown, in the landing state of the unmanned cargo handling machine 10, the grounding body 18A of the grounding part 18 contacts the landing surface, and the protrusion 58A of the grounding arm 58 also contacts the landing surface. With the protrusion 58A of the grounding arm 58 in contact with the landing surface, as... Figure 17 and Figure 18 As shown, the wire rope 66 of the connecting part 54 is in a state where it is transmitted from the grounding part side restriction part 52 side to the drive part side restriction part 53 side. Thus, as... Figure 18 As shown, the wire rope 66 presses the pressing arm 60 toward the side opposite to the rotating part 32A of the central link 32. As a result, the pressing part 60A of the pressing arm 60 is separated from the rotating part 32A of the central link 32. It should be noted that the position of the pressing arm 60 in this state is referred to as the permissible position D1 as the second position. With the pressing arm 60 in the permissible position D1, the rotation of the central link 32 is not restricted by the pressing arm 60, so by operating the drive unit 40, each leg 22 can be moved toward the cargo 30 side or the opposite side of the cargo 30.

[0080] like Figure 19 As shown, when the unmanned cargo handling vehicle 10 is in flight, the main body 18A of the grounding part 18 separates from the landing surface, and the protrusion 58A of the grounding arm 58 also separates from the landing surface. In the state where the protrusion 58A of the grounding arm 58 is separated from the landing surface, as... Figure 20 As shown, by the force of the pressing spring 62, the pressing arm 60 moves from the allowable position D1 towards the rotating part 32A of the central link 32, and the pressing part 60A of the pressing arm 60 is pressed by the rotating part 32A of the central link 32. It should be noted that the position of the pressing arm 60 in this state is called the restricted position D2, which is the first position. When the pressing arm 60 is in the restricted position D2, the rotation of the central link 32 is restricted by the pressing arm 60, so even if the drive unit 40 is activated, it is impossible to move each leg 22 towards the cargo 30 or the opposite side of the cargo 30. Thus, it is possible to prevent or suppress the cargo 30 from falling during the flight of the unmanned cargo handling machine 10.

[0081] Furthermore, in this embodiment, the pressing spring 62 is configured to consistently apply force to the pressing arm 60 toward the restricted position D2. Therefore, even if the grounding-side restrictor 52 or similar components malfunction, it is possible to prevent or suppress the cargo 30 from falling during the flight of the unmanned cargo handling machine 10.

[0082] Furthermore, in this embodiment, the limiting unit 50 is a structure that is independently provided from the drive unit 40. As a result, it is not necessary to separately control the drive unit 40, and it is possible to prevent or suppress the cargo 30 from falling during the flight of the unmanned cargo handling machine 10.

[0083] Furthermore, by designing the limiting section 50 in this embodiment to be structured so that it does not require actuators, controllers, or electrical systems, the increase in weight of the cargo support device 14 caused by the installation of the limiting section 50 can be suppressed. Therefore, the decrease in the transportable weight of the unmanned cargo handling machine 10 can be prevented.

[0084] (The ratchet mechanism is applied to the limiting part 70)

[0085] Next, use Figure 21 and Figure 22 This indicates that the ratchet mechanism's limiting part 70 is applicable.

[0086] like Figure 21 As shown, the limiting part 70, which utilizes a ratchet mechanism, is constructed identically to the limiting part 50 in the aforementioned embodiment, except for the differences in the structure of the drive-side limiting part 53 and the central connecting rod 32. Therefore, the structure of the drive-side limiting part 53 and the central connecting rod 32 will be described below, while the description of the ground-side limiting part 52 and the connecting part 54 will be omitted. Furthermore, components and parts already described will be marked with the same symbols as those already described, and their descriptions will be omitted.

[0087] The drive unit side limiting part 53 is supported on the plate 20 (see reference). Figure 3 The ratchet arm 72 comprises: a curved portion 72A that is bent into an arc shape when viewed from above; and a tongue-shaped extension 72B extending from one end of the curved portion 72A. The end of the extension 72B opposite to the curved portion 72A is rotatably connected to the plate 20 (see reference 20) via a pin (not shown) in the vertical direction. Figure 3 Furthermore, the bent portion 72A and the rotating portion 32A of the central connecting rod 32 are arranged radially opposite each other along the rotating portion 32A. Moreover, the wire rope 66 is secured at the end of the extended portion 72B on the bent portion 72A side (see reference). Figure 18 The other end of the extension 72B. Furthermore, the pressing spring 62 is locked at the end of the extension 72B on the curved portion 72A side (see reference). Figure 18 The ratchet arm 72 is located at one end of the central link 32. Therefore, the ratchet arm 72 is constantly subjected to force by the pressing spring 62 towards the rotating portion 32A of the central link 32. Furthermore, the ratchet arm 72 has a plurality of first ratchet teeth 72C protruding from the curved portion 72A toward the rotating portion 32A of the central link 32. The plurality of first ratchet teeth 72C are formed in a serrated shape.

[0088] The central link 32 has a plurality of second ratchet teeth 32C protruding from the outer peripheral surface of the rotating part 32A toward the ratchet arm 72. The plurality of second ratchet teeth 32C are formed in a sawtooth shape.

[0089] In the structure with limiting part 70 described above, when the unmanned cargo handling machine 10 is landed, the wire rope 66 presses the ratchet arm 72 toward the opposite side of the rotating part 32A of the central link 32. As a result, the plurality of first ratchet teeth 72C of the ratchet arm 72 are separated from the plurality of second ratchet teeth 32C of the central link 32. It should be noted that the position of the ratchet arm 72 in this state is referred to as the permissible position D1 as the second position. When the ratchet arm 72 is in the permissible position D1, the rotation of the central link 32 is not limited by the ratchet arm 72, so by operating the drive unit 40, each leg part 22 can be moved toward the cargo 30 side or the opposite side of the cargo 30.

[0090] like Figure 22 As shown, when the unmanned cargo handling machine 10 is in flight, the ratchet arm 72 moves from the allowable position D1 towards the rotating part 32A of the central link 32 by the force of the pressing spring 62, and the plurality of first ratchet teeth 72C of the ratchet arm 72 engage with the plurality of second ratchet teeth 32C of the central link 32. It should be noted that the position of the ratchet arm 72 in this state is referred to as the restricted position D2 as the first position. When the ratchet arm 72 is in the restricted position D2, the rotation of the central link 32 to the other side (opposite to the direction of arrow C2) is restricted by the ratchet arm 72, so even if the drive unit 40 is activated, the legs 22 cannot move to the opposite side of the cargo 30. Thus, it is possible to prevent or suppress the cargo 30 from falling during the flight of the unmanned cargo handling machine 10.

[0091] In contrast, when the ratchet arm 72 is in the restricted position D2, if the drive unit 40 is operated by rotating the central link 32 to one side (in the direction of arrow C2), the plurality of second ratchet teeth 32C of the central link 32 will pass over the plurality of first ratchet teeth 72C of the ratchet arm 72. Thus, the operation of the drive unit 40, which allows each leg 22 to move towards the cargo 30, is permitted in the restricted part 70 described above.

[0092] (The limiting part 74 of the cam mechanism is applicable)

[0093] Next, use Figure 23 , Figure 24 and Figure 25 This indicates that the limiting part 74 of the cam mechanism is applicable.

[0094] like Figure 23As shown, the limiting part 74, which utilizes the cam mechanism, is constructed similarly to the limiting part 50 in the aforementioned embodiment, except for the differences in the structure of the drive-side limiting part 53 and the central connecting rod 32. Therefore, the structure of the drive-side limiting part 53 and the central connecting rod 32 will be described below, while the description of the ground-side limiting part 52 and the connecting part 54 will be omitted. Furthermore, components and parts already described will be marked with the same symbols as those already described, and their descriptions will be omitted.

[0095] The drive-side limiting part 53 is configured to prevent it from being positioned relative to the plate 20 (see reference). Figure 3 The fixed cam portion 76 is movable, and the movable cam portion 78 is connected to the connecting portion 54 and configured to be displaceable relative to the plate 20. Furthermore, the drive-side limiting portion 53 has an insertion portion 32D that protrudes from the rotating portion 32A of the central link 32 and passes through the fixed cam portion 76 and the movable cam portion 78.

[0096] The fixed cam portion 76 is elliptical in shape when viewed from above. An elongated fixed cam hole 76A is formed in this fixed cam portion 76. It should be noted that the fixed cam portion 76 is fixed to the plate 20 (see reference). Figure 3 The fixed cam fixing part is not shown in the figure.

[0097] The movable cam portion 78 is constructed in the same manner as the fixed cam portion 76, and is elliptical in shape when viewed from above. An elongated movable cam hole 78A is formed in the movable cam portion 78. It should be noted that the movable cam portion 78 is supported on the plate 20 (see reference). Figure 3 A movable cam support (not shown) is provided. Thus, the movable cam 78 can move within a defined range and in a defined posture. Furthermore, the movable cam 78 is engaged at one end with the pressing spring 62. Therefore, the movable cam 78 is always subjected to force toward the opposite side of the fixed cam 76.

[0098] The insertion part 32D protrudes upward from the upper surface of the rotating part 32A of the central connecting rod 32 and is formed into a cylindrical shape. The insertion part 32D is inserted into the fixed cam hole 76A of the fixed cam part 76 and the movable cam hole 78A of the movable cam part 78.

[0099] In the structure with limiting part 74 described above, when the unmanned cargo handling machine 10 is in the landing state, such as Figure 24 and Figure 25As shown, the movable cam portion 78 is pressed towards the fixed cam portion 76 by the wire rope 66. As a result, the movable cam portion 78 is positioned so that its horizontal position coincides with the horizontal position of the fixed cam portion 76. It should be noted that the position of the movable cam portion 78 in this state is referred to as the permissible position D1, which is the second position. With the movable cam portion 78 in the permissible position D1, the insertion portion 32D can move along the fixed cam hole 76A of the fixed cam portion 76 and the movable cam hole 78A of the movable cam portion 78. That is, the rotation of the central connecting rod 32 is not restricted by the fixed cam portion 76 and the movable cam portion 78. Therefore, by operating the drive unit 40, each leg portion 22 can be moved towards the cargo 30 side or the opposite side of the cargo 30.

[0100] In contrast, when the unmanned cargo handling vehicle 10 is in flight, such as Figure 23 As shown, by the force of the pressing spring 62, the movable cam 78 moves from the allowable position D1 to the opposite side of the fixed cam 76, and the insertion part 32D of the central link 32 is clamped by the inner edge of the fixed cam hole 76A of the fixed cam 76 and the inner edge of the movable cam hole 78A of the movable cam 78. It should be noted that the position of the movable cam 78 in this state is called the restricted position D2, which is the first position. When the movable cam 78 is in the restricted position D2, the insertion part 32D cannot move along the fixed cam hole 76A of the fixed cam 76 and the movable cam hole 78A of the movable cam 78. That is, the rotation of the central link 32 is restricted by the fixed cam 76 and the movable cam 78. Therefore, even if the drive unit 40 is operated, each leg 22 cannot move towards the cargo 30 or the opposite side of the cargo 30. Thus, it is possible to prevent or suppress the cargo 30 from falling during the flight of the unmanned cargo handling machine 10.

[0101] The above describes one embodiment of the present invention. However, the present invention is not limited to the above description. Various modifications can be made in addition to the above description without departing from its spirit.

Claims

1. A cargo support device, comprising: The base platform has a small drone mounted on top. The grounding part contacts the landing surface during landing; A cargo support section is provided on the lower side of the base to support the cargo; The drive unit, by operating in a first state, moves the cargo support towards the cargo side, and by operating in a second state, moves the cargo support towards the opposite side of the cargo; and The limiting unit, provided independently of the drive unit, allows the drive unit to operate when the grounding part is in contact with the landing surface, and restricts the operation of the drive unit in at least the second state when the grounding part is separated from the landing surface. The limiting part includes: A drive-side limiting part is configured to be displaceable between a first position and a second position, wherein the first position is a position that restricts the operation of the drive part in at least a second state, and the second position is a position that allows the operation of the drive part; a grounding-side limiting part is provided on the grounding part; The connecting part connects the driving part-side limiting part to the grounding part-side limiting part. When the grounding-side limiting part contacts the landing surface, the connecting part displaces, and the driving-side limiting part displaces from the first position to the second position. When the grounding-side limiting part separates from the landing surface, the connecting part is displaced, and the driving-side limiting part is displaced from the second position to the first position.

2. The cargo support device according to claim 1, wherein, The cargo support device also includes a force-applying member that always applies force to the drive-side limiting part toward the first position side.

3. The cargo support device according to claim 1, wherein, The drive-side limiting portion includes a pressing portion, which is pressed against a member constituting the drive portion when the drive-side limiting portion is in the first position. The operation of the drive unit is restricted by pressing the pressing part against the member constituting the drive unit.

4. The cargo support device according to claim 1, wherein, The drive unit-side limiting portion has a first ratchet tooth that protrudes toward the drive unit side. The drive unit has a second ratchet tooth that protrudes toward the drive unit side limiting portion and meshes with the first ratchet tooth of the drive unit side limiting portion located at the first position. When the first ratchet tooth and the second ratchet tooth are engaged, the operation of the drive unit in the second state is restricted. When the drive unit operates in the first state with the first ratchet tooth engaged with the second ratchet tooth, the second ratchet tooth passes over the first ratchet tooth, thereby allowing the drive unit to operate in the first state.

5. The cargo support device according to claim 1, wherein, The drive unit side limiting part includes: a fixed cam part configured to be immobile relative to the base; a movable cam part connected to the connecting part and configured to be displaceable relative to the base; and a insertion part protruding from the drive unit and insertion into the fixed cam part and the movable cam part. When the movable cam is positioned such that its movement is restricted by both the fixed cam and the movable cam, the operation of the drive unit is limited. When the movable cam is positioned such that the insertion part can move along both the fixed cam and the movable cam, the operation of the drive unit is permitted.

6. An unmanned cargo handling machine, comprising: Small drones; The base, on which the small drone is mounted; The grounding part contacts the landing surface during landing; A cargo support section is provided on the lower side of the base to support the cargo; The drive unit, by operating in a first state, moves the cargo support towards the cargo side, and by operating in a second state, moves the cargo support towards the opposite side of the cargo; and The limiting unit, provided independently of the drive unit, allows the drive unit to operate when the grounding part is in contact with the landing surface, and restricts the operation of the drive unit in at least the second state when the grounding part is separated from the landing surface. The limiting part includes: A drive-side limiting part is configured to be displaceable between a first position and a second position, wherein the first position is a position that restricts the operation of the drive part in at least a second state, and the second position is a position that allows the operation of the drive part; a grounding-side limiting part is provided on the grounding part; The connecting part connects the driving part-side limiting part to the grounding part-side limiting part. When the grounding-side limiting part contacts the landing surface, the connecting part displaces, and the driving-side limiting part displaces from the first position to the second position. When the grounding-side limiting part separates from the landing surface, the connecting part is displaced, and the driving-side limiting part is displaced from the second position to the first position.

Images