Suspension device for compact unmanned machine transport

Abstract

To realize a safe suspension device for compact unmanned machine transport that can prevent unintended fall accidents caused by erroneous operations or malfunctions during the time of transporting a cargo using a compact unmanned machine.SOLUTION: A suspension device for compact unmanned machine transport is a device that mediates connection between a compact unmanned machine and a cargo, and is equipped with interlocking lock mechanisms in a threefold structure. Among the lock mechanisms, an upper lock mechanism and a lower lock mechanism perform locking and unlocking in a complementary manner through coordination of two upper and lower lock pins that move in an opposing manner. These operations are linked to a transmitter operation and are intuitive, but unlocking is completed through successive reverse operations that are not performed in normal operations. Therefore, fall accidents caused by erroneous operations or malfunctions not intended by an operator hardly occur. Furthermore, since a load-lock mechanism is activated by a weight of the cargo lifted by the compact unmanned machine to fix the upper lock mechanism, even safer transport work can be performed.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to technology related to transportation work using small unmanned aerial vehicles (hereinafter referred to as "drones"), which are widely used in society. This device is a device for suspending cargo, and the present invention relates to technology related to improving the safety of work. [Background technology]

[0002] Drones are used in a wide range of industrial fields. Among them, one growth field close to us that is expected to be further utilized and developed in the future is logistics operations, and the realization and widespread use of drone transportation. In the field of logistics, drones fly in a variety of areas. From flights within visual line of sight and flights beyond visual line of sight in uninhabited areas, which are considered relatively safe, to flights beyond visual line of sight in populated areas, which are inevitably more dangerous, there are a variety of areas where drone transport operations can be carried out, and there are still issues that society needs to solve in the future, such as the development of laws to realize this safely. Not just in the logistics field, but in any field, improving the safety of drones in terms of both hardware and software is one of the important issues that must always be kept in mind and prioritized, and this is even more important in the field of drone transportation, where drones fly above people's heads while carrying cargo. In light of the future possibility of drone transportation, the applicant developed the drone transportation dropping unit of Patent Document 1 and the transportation drone described in Non-Patent Document 1, and has carried out many transportation tasks in various fields such as agriculture and forestry. As part of the highly convenient functions of the transportation drone, the applicant has developed and used a detachable unit that can transport cargo to the site in a suspended state by the drone and quickly unload it when necessary. Under such circumstances, the applicant has continued research and development to further improve the safety of the work, and has realized the suspension device for small unmanned aircraft transportation (hereinafter referred to as the "suspension device") related to the current application. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-29249 A [Patent Document 2] Patent Publication No. 2021-1052 [Non-patent literature]

[0004] [Non-Patent Document 1] DroneWorkSystem Inc. "Material transport drone EAGLE35" (detachable unit) https: / / dws.co.jp / product-introduction-2 / forestry / eagle35 Summary of the Invention [Problem to be solved by the invention]

[0005] The problem to be solved by the present invention is to prevent accidents in which cargo falls unintentionally due to operator error or malfunction of the device itself during transport work using drones and during loading and unloading of cargo, etc. This will realize safe and efficient cargo transport work using drones. In addition, by achieving both compactness and light weight, which are always considered important in this field, we have created a suspension system that can be practically mounted on a drone and is easy to handle. The detachment unit of Non-Patent Document 1, which the applicant has developed and is currently using, is an easy-to-use device with a simple configuration and a single operation, but the applicant felt that it was still insufficient in terms of safety measures against erroneous operation by the operator or malfunction of the device itself. Therefore, after much trial and error, the applicant came up with the idea of ​​realizing a safer and easier-to-use device by the following means. [Means for solving the problem]

[0006] This suspension system mediates the connection between the drone and the cargo being transported, and is equipped with multiple interlocking locking mechanisms to ensure safety, particularly during loading and unloading operations, such as when the cargo is detached. This system is attached to the bottom of the drone and transports the cargo connected to a rope while being securely held by its own suspension connection mechanism. There are several possible specifications for the device, but the most typical configuration is as follows: This device is a suspension device in which the movable part is connected to the fixed part in a manner that allows it to be raised and lowered by a fixed part connecting means and a movable part connecting means (hereinafter, the combination of these two connecting means is referred to as the "internal connecting mechanism"). The fixed part has an external connection mechanism and fixed part connection means for connecting with the drone, as well as a fixed seat part. The movable part has a suspended object connection mechanism and movable part connection means for suspending the cargo. The suspended object connection mechanism of the movable part, which fastens the suspended cargo, has the following configuration. The drive unit, which causes the most primitive operation of the suspension linkage mechanism, is equipped with a shaft that rotates in both forward and reverse directions due to power. The drive unit has a crank unit connected to the center of the drive unit's rotating shaft, with both its upper and lower ends rotating in the forward and reverse directions in conjunction with the shaft. The upper link unit has one end movably connected to the upper end of the crank unit, and a lower link unit has one end movably connected to the lower end of the crank unit. A rod-shaped upper lock pin with a downward protrusion near its tip is connected to the other end of the upper link unit, and a rod-shaped lower lock pin is movably connected to the other end of the lower link unit. Rotational motion is transmitted from the drive unit to the crank unit, and is converted into linear motion that moves the upper and lower lock pins forward or backward via the upper and lower link units. In order to enable stable opposing motion in which these two pins are arranged parallel to each other vertically and move forward and backward alternately in the lateral direction, a pin guide is provided extending vertically, with two through holes arranged vertically, each with a cross-sectional area approximately equal to that of each pin. In addition, a movable seat portion is arranged parallel to the pin guide at the end of each pin, which has an upper seat into which the tip of the upper lock pin fits and a lower seat into which the tip of the lower lock pin fits, to realize two locking functions, one above the other. The other fixed part is equipped with a fixed seat part having two vertically long through holes at the top and bottom through which the upper lock pin with a downward protrusion and the straight lower lock pin can pass freely to move forward and backward. This fixed seat part is located between the pin guide and the movable seat part and is arranged to extend vertically parallel to them. When flying with cargo suspended, the upper end of the crank part connected to the rotating shaft of the drive part rotates in the forward direction upon receiving an operation signal from a transmitter (hereinafter referred to as "radio transmitter") for controlling the drone. As a result, the upper lock pin moves forward through the movement of the upper link part. Then, a rope connected to the cargo is suspended by this upper lock pin, and when the tip of the rope reaches the upper support, the space between the movable support part and the fixed support part is closed and the upper lock mechanism is locked. At the same time, the lower end of the crank part rotates in the forward direction, causing the lower lock pin to move backward through the lower link part. When the tip of the rope leaves the lower support and reaches the fixed support part, the space between the movable support part and the fixed support part is opened and the lower lock mechanism is released. After that, when the drone is flying in the air, the weight of the cargo is applied to the upper lock pin that suspends the cargo, so that the elastic bodies such as coil springs and leaf springs of the internal connection mechanism are compressed, and the movable part descends relative to the fixed part. At this time, the two pins of the movable part also descend, and the lower protrusion of the upper lock pin fits into the lower side of the vertically long through hole above the fixed seat. As a result, even if a force is generated that tries to move the upper lock pin backward due to erroneous operation, the upper lock pin cannot pass through the through hole of the fixed seat, and the upper lock mechanism will not be released. The mechanism that locks the upper lock mechanism is called the load lock mechanism in this device. On the other hand, when the drone descends at the destination and the cargo lands on the ground, the load of the upper lock pin is removed, and the elastic body, which was in a compressed state, expands. Then, the movable part rises relative to the fixed part. As a result, the engagement between the lower protrusion of the upper lock pin and the fixed seat part is released, and the load lock mechanism of the upper lock pin is released. After that, the upper end of the crank part rotates in the opposite direction by an operation signal sent by the operator, and the upper lock pin is moved backward via the upper link part. The tip of the upper lock pin leaves the upper seat and moves toward the pin guide, opening the gap between the movable seat part and the fixed seat part, and the upper lock mechanism is unlocked. At the same time, the lower end of the crank part rotates in the opposite direction and moves the lower lock pin forward via the lower link part, so that the tip of the lower lock pin reaches the lower seat, blocking the gap between the fixed seat part and the movable seat part, and the lower lock is locked. The locking of the lower lock mechanism is linked to the unlocking of the upper lock mechanism, so the cargo is not immediately released, and unintended dropping of the cargo can be prevented. To complete the unloading, the worker further operates the radio control to rotate the lower end of the crank in the forward direction, and moves the lower lock pin backward via the lower link. This causes the tip of the pin to leave the lower support and reach the fixed support, unlocking the lower lock mechanism between the movable support and the fixed support. This allows the worker to safely separate the cargo from the suspension system. In addition, the forward and reverse movements of the upper and lower lock pins are linked to the successive reversal operations of levers and switches that are not performed in normal remote control operations, i.e., the operation of reversing the operating parts in the opposite direction. Therefore, by requiring this two-stage remote control operation, the device is less susceptible to human error. Effect of the Invention

[0007] The applicant developed the transport drone and its detachment unit described in Non-Patent Document 1 by himself, and is currently using them at various sites. When suspending cargo, this detachment unit uses one servo motor to drive one lock pin to lock it. The fact that cargo can be instantly dropped by remotely releasing the lock pin is an advantage in terms of the speed of the work. However, the applicant felt that there was an insufficient part in terms of maintaining safety when transport work is carried out in various areas in the future. In contrast, the suspension device we invented this time is a suspension device equipped with a suspended object connection mechanism that has two horizontal lock pins, one above and one below, that are linked by a single drive unit and move forward and backward while facing each other, and has a double locking function that links the top and bottom. The device has a simple structure, and is not inferior to conventional devices in terms of size, weight, and handling. The operation of the two lock pins of this suspended object connection mechanism is intuitively linked to the operation of the remote control used to operate a drone. However, it requires a two-action operation to continuously reverse a lever from the neutral position in the forward and reverse directions, which is not performed with the general remote control operation used to operate a conventional drone. Therefore, unless the operator intentionally performs such an operation, it is possible to avoid cargo falling due to erroneous operation. At the same time, it does not require complex remote control operation that is counterintuitive, and there is no risk of reducing work efficiency. The cargo is held by this suspended load connection mechanism in conjunction with the operation of the remote control, with two lock pins that move back and forth facing each other, so that either the upper or lower lock pin is always securely suspending the cargo, allowing workers to transport and load / unload safely and efficiently. Furthermore, with regard to the upper lock pin, the load lock functions according to the weight of the cargo being transported, making it possible to prevent cargo from falling due to malfunction of the upper lock pin. At the same time, as described above, either of the upper and lower double locking structures prevents cargo from falling unintentionally, making this a suspension device that is extremely safe compared to conventional separation units. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a perspective view showing an example of the appearance of the present device. [Diagram 2] FIG. 2 is a perspective view showing an example of a main part of the present device. [Diagram 3] FIG. 2 is a side view showing the main components of the device. [Figure 4] FIG. 4 is an enlarged perspective view of a portion of the suspended object coupling mechanism. [Diagram 5] This is a reference diagram showing the state during loading and unloading (top closed, bottom open). [Figure 6] This is a reference diagram showing the state during loading and unloading (top open, bottom closed). [Figure 7] This is a reference diagram showing the state when suspended (top closed, bottom open). [Figure 8] FIG. 13 is a reference diagram showing the load-locked state upon erroneous operation. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the suspension device 1 according to the present invention will be described with reference to the drawings, taking as an example a device with representative specifications. First, the situation of a transport operation using this suspension device 1 and an outline of the configuration of this device will be described. Figure 1 shows an example of the appearance of the suspension system 1. The device is seen from diagonally below, and shows a large flat base plate integrated at the top, which is part of the external connection mechanism 4 for connecting the drone to the device. This device is a suspension device 1 used for transport work by drones. However, the drone and cargo outside the device are omitted and not shown in Fig. 1. A drone integrated with the device is connected to the upper part of Fig. 1, and the cargo to be transported is connected to the lower part of Fig. 1, below the rope 20 shown in Fig. 2.

[0010] The suspension device 1 is a device that is positioned between the drone and the cargo and functions to securely connect them, greatly improving the safety and efficiency of work, especially during flight and when loading and unloading cargo. Workers using this device can transport cargo by securely connecting it to the drone to prevent accidents involving the cargo falling. Loading and unloading cargo is particularly risky for workers directly below or in the vicinity of a drone flying overhead, as well as for transporting cargo in populated areas, but this device makes transporting work safer and more efficient.

[0011] Because it is such a device, the transport worker first connects the suspension device 1 to the underside of the drone and integrates them, then attaches the cargo to this device and transports it. At the destination, the cargo is detached from the drone by remotely controlling the transmitter. Fig. 2 is a perspective view showing the main parts of the suspension device 1. It is an enlarged view of a part of Fig. 1, but in order to clearly show the configuration of this device, not only the drone and cargo are omitted, but also the platform plate, which is a part of the external connection mechanism 4 shown in Fig. 1, is omitted, and the device is shown as viewed diagonally from above so that the outline can be easily understood.

[0012] The cargo to be transported by the drone is connected to the lower end of a rope 20 that hangs vertically downward from near the center of Fig. 2. The upper end of the rope 20, which is the opposite side of the cargo, is held by a suspended object connection mechanism 2 of a suspension device 1 that is integrated with the drone. Details of the suspended object connection mechanism 2, which plays an important role in this device, will be explained later. At this time, in order to quickly and reliably connect the rope 20 to the suspension device 1, the upper end of the rope may be tightly knotted in advance to form a loop, or, as shown in Figure 2, an auxiliary annular ring 21 may be connected to the upper end to facilitate the connection work. A worker using this ring 21 quickly connects the ring 21 to the suspended object connection mechanism 2 of the suspension device 1, and after confirming that the cargo is securely held by the drone and in a safe state where it will not fall, flies the drone with the cargo suspended therefrom.

[0013] The suspension device 1 in Figure 2 is illustrated as a complex combination of multiple components, but for ease of explanation, it can be understood as being a device that is roughly divided into two parts: a fixed part 3 that is connected to the drone, and a movable part 7 that is connected to the fixed part 3. In Fig. 2, the fixed part 3 and the movable part 7 are connected by an internal connection mechanism, i.e., a combination of the fixed part connection means 5 and the movable part connection means 19. The position of the internal connection mechanism is taken as the rough boundary, and the fixed part 3 is shown below and the movable part 7 is shown above. However, in this explanation, the fixed part 3 and the movable part 7 both generally refer to their main body parts, and each of them is further provided with various members required to realize the functions of this device. The details of these will be explained later.

[0014] Furthermore, with this device, it is possible to check the connection relationships between different objects at multiple locations. Firstly, there is the connection between the suspension system 1 and the drone outside it. Inside the suspension device 1, there exists a connection relationship between the fixed part 3 and the movable part 7 by the internal connection mechanism described above. Furthermore, a connection is required between the suspension system 1 and the external cargo that is the subject of the transport operation.

[0015] Because the classification of each of these connection relationships can be very confusing, in this explanation, we have given each of them a separate name and distinguished them. The mechanism for fastening cargo to the suspension device 1 mentioned above is referred to as the suspended object connecting mechanism 2, and will be explained in detail later. In addition, the connection between the suspension device 1 and the drone outside it is assumed that they are integrated by an external connection mechanism 4. With regard to the connection relationship between the fixed part 3 and the movable part 7 inside the suspension device 1, we consider that the two are movably combined by the internal connection mechanisms provided in each of the fixed part 3 and the movable part 7, i.e., the opposing fixed part connection means 5 and movable part connection means 19.

[0016] First, various methods can be adopted as the external connection mechanism 4 that connects the fixed part 3 of this device to the drone. The simplest method is to integrate them using a connecting belt or the like, or to provide a through hole in the upper part of the fixed part 3 and connect it to the lower part of the drone with a bolt or the like. In this description, five spacers extending upwards can be seen in FIG. 2, and the mounting plate to which they are connected can be seen in FIG. 1, which function as an external connection mechanism 4 that integrates the device with an upper drone, which is omitted in both figures and not shown. In addition, a connection attachment may be provided at opposing locations of the fixed part 3 and the drone to enable quick and reliable connection between them. In addition, in this description and the drawings, the suspension device 1 is shown with the fixed part 3 disposed at the bottom and the movable part 7 disposed at the top, but depending on the specifications of the internal connecting mechanism, it is possible to reverse the positional relationship between them.

[0017] Meanwhile, the connection between the fixed part 3 and the movable part 7 by the internal connection mechanism inside the suspension device 1 must be securely integrated so that they do not come loose during transportation. However, this internal connection mechanism is not designed to be immovably and fixedly integrated like the external connection mechanism 4. The movable part 7 is connected to the fixed part 3 in such a way that it can move up and down within a predetermined range. As will be explained later, depending on whether or not there is cargo suspended by this device, the movable part 7 moves up and down within a predetermined range, so the relative positions of the fixed part 3 and the movable part 7 fluctuate up and down. Considering this situation, the role of the fixed part 3 in the suspension device 1 can be understood as a base that movably supports the movable part 7, and depending on its shape, it can also be considered to become the outer shell of the suspension device 1 and protect the inside of the device from wind, rain, etc.

[0018] Workers involved in the transportation must operate the drone to safely transport the cargo according to their respective roles, and reliably carry out the operations required of them, such as connecting and disconnecting the drone from the cargo at the origin and destination. Furthermore, when loading and unloading cargo, they must always pay close attention to the behavior of drones flying overhead and the cargo, and are exposed to risk when performing their work. During transport, as well as during loading and unloading, even a small operational error or malfunction can lead directly to serious industrial accidents, such as cargo falling, resulting in personal injury. Therefore, it is extremely important for people involved in transport work to take thorough safety measures to prevent as many operational errors or malfunctions of equipment that may pose even the slightest risk in advance as possible.

[0019] In this suspension device 1, one end of a rope 20 that connects the cargo is tied to a suspended object connection mechanism 2, and the cargo is lifted into the air as the drone rises. For this reason, the suspended object connection mechanism 2 of this device employs multiple mechanisms that can securely hold the rope 20 and safely and quickly connect and disconnect the rope 20 when loading and unloading, which is one of the features of the present invention. Accidents of cargo falling due to incorrect operation or malfunction, which were foreseen in conventional devices, are prevented from occurring by the multiple safety devices of this device that work together with each other.

[0020] In addition, the operation of the radio control and the operation of the suspended structure connection mechanism 2 are also interrelated, and when operating it, two actions are required, one for successively reversing in the forward direction and the other in the reverse direction, which is not done when operating a normal drone. These operations are intuitive and correspond to the double lock mechanism that works together inside the suspended structure connection mechanism 2. However, unless an operator deliberately performs such an operation, malfunction of the suspended structure connection mechanism 2 will not occur due to simple operational errors that would normally be expected, making it possible to prevent unexpected falling accidents, etc.

[0021] To explain this double lock in more detail, in this suspension device 1, the cargo-holding part of the suspended object connecting mechanism 2 is equipped with two locking structures that are linked to each other, serving as two upper and lower locking mechanisms that are linked to the remote control operation, which performs two successive actions in the forward and reverse directions. These two points are activated and unlocked in an alternating manner while being linked to each other, so there is no chance that both points will be opened simultaneously due to a mistake or malfunction. In the following explanation, of the two locking mechanisms arranged vertically above and below, the upper locking mechanism is called the upper locking mechanism and the lower locking mechanism is called the lower locking mechanism. In addition, there is a specification that further enhances safety by adding a load locking mechanism that is activated by the suspension of cargo to the upper locking mechanism.

[0022] Taking into consideration the overall configuration of the suspension device 1, the individual components that make up the suspension device 1 will be described in more detail below. For convenience, the movable part 7 will be described first, followed by the fixed part 3. The following description will be given of one aspect of the device, and is not intended to limit the device to this only. Fig. 3 is a side view showing a part of the suspension device 1 shown in Fig. 1 and Fig. 2. For the purpose of explanation, the external connection mechanism 4 and other auxiliary elements, such as the damper shown at the bottom of Fig. 1, are not shown. In addition, the rope 20, which is not necessarily a component of the device, is also omitted and not shown.

[0023] The part shown at the top of Fig. 3 is the movable part 7. As mentioned above, the boundary between the fixed part connecting means 5 and the movable part connecting means 19, which are the internal connecting mechanisms, is a rough guide for dividing the fixed part 3 and the movable part 7 into upper and lower parts. In Fig. 3, the upper movable part 7 is lowered toward the lower fixed part 3 due to the load of the cargo, but as mentioned above, the positional relationship may be reversed and the lower movable part 7 may be designed to lower further. In addition, various components required for the suspension linkage mechanism 2 to operate are combined with this movable portion 7. The main components are a drive unit 8, a crank unit 9, an upper link unit 10, an upper lock pin 11, a lower link unit 13, a lower lock pin 14, a pin guide 15, and a movable seat unit 16. The combination of these components and their interrelated operations cause the suspended object connection mechanism 2 to function and lock or unlock the upper lock mechanism and the lower lock mechanism.

[0024] The drive unit 8 is a starting device that generates the initial movement of the suspension linkage mechanism 2. It operates upon receiving a signal transmitted from the radio control unit. The output shaft is a rotating shaft that rotates in both directions when it receives power from an external source. The crank part 9 connected to the output shaft rotates clockwise or counterclockwise within a specified angle and stops at the required position. 3 is considered to be the positive direction, and the counterclockwise direction is considered to be the negative direction. Therefore, the shaft of the drive unit 8 also rotates in the positive and negative directions.

[0025] The power source of this drive unit 8 may be mounted on the suspension device 1 itself, i.e., on the fixed part 3 or the movable part 7, but a situation in which the necessary power is supplied from outside the suspension device 1 is also assumed. In the existing detachment unit developed by the applicant, it is assumed that an electric motor operated by electricity, such as a servo motor, is used as a general drive unit 8. This device is connected to a battery mounted on the drone, and the drive unit 8 is operated by the power supplied from the battery. In this case, the suspension device 1 receives the operating signal sent from the transmitter to the drone, and the servo motor of the movable part 7 applies the necessary rotational force to the crank part 9, rotating it in the forward or reverse direction to a specified angle and stopping it.

[0026] The crank portion 9 is connected reliably and in good balance to the rotation shaft of the drive portion 8, with its center serving as the center of gravity. Then, in response to the rotational force from the drive portion 8, the crank portion 9 performs the necessary rotational motion in both directions. The shape of the crank portion 9 is often a horizontally long, thin, plate-like member as shown in the figures from Fig. 2 onwards. Its size is adjusted to the minimum necessary and sufficient size so that it can reliably receive the rotational force of the drive portion 8 and rotate smoothly. It receives the rotational force of the drive portion 8 at its center, and its upper and lower ends rotate in both forward and reverse directions within a specified range. This suspension device 1 is equipment for drones, for which miniaturization and weight reduction are important. The movable part 7 and fixed part 3, including the crank part 9, and the other components combined with these are all made of lightweight and strong materials such as light metals and carbon, and are manufactured as a device with high strength and the minimum size required to accommodate drones and cargo.

[0027] As shown in FIG. 3, an upper link portion 10 is connected to one upper end of the crank portion 9, and a lower link portion 13 is connected to the other lower end thereof, which is the opposite side. A thin, rod-shaped upper lock pin 11 is connected to the other end of the upper link 10 connected to the crank 9, and the other end of the lower link 13 is connected to a rod-shaped lower lock pin 14. A downward protrusion 12 is provided on the underside near the tip of the upper lock pin 11. However, in the case of a suspension 1 that does not have a load lock, a specification in which the downward protrusion 12 is not provided on the upper lock pin 11 is also envisioned. A total of four connection points at both ends of the upper link part 10 and the lower link part 13 are formed by a link structure that moves while rotating freely. Therefore, in conjunction with the rotational movement of the crank part 9, the upper link part 10 and the lower link part 13 move up, down, left, and right within a predetermined range, and accordingly, the upper lock pin 11 and the lower lock pin 14 also move back and forth to the left and right in FIG. 3 while facing each other.

[0028] To summarize the above operations, in the suspended object connection mechanism 2 of the suspension device 1, the rotating shaft of the drive unit 8 rotates the crank unit 9 in the forward and reverse directions within a predetermined range. The rotational motion of the crank unit 9 induces motion in the upper link unit 10 and the lower link unit 13 connected thereto, and is converted into linear motion that alternately moves the upper lock pin 11 and the lower lock pin 14 connected thereto forward and backward. Also, instead of the configuration shown in Figure 3, it is possible to use a configuration in which the drive unit 8 directly and alternately moves the upper lock pin 11 and the lower lock pin 14 back and forth using magnetic force or the like, causing the two pins to move in opposite directions. In the explanation of this device, the right side of Figure 3 is considered to be the front, and the direction in which each pin moves forward in this device. The opposite, left side is considered to be the rear of this device, and the direction in which the pins move backward.

[0029] In the suspension 1 having the specifications shown in Fig. 2 etc., when the upper lock pin 11 is pushed to the right and moves forward by the rotation of the crank part 9 in the forward direction, the lower link part 13 is pulled backward. In this way, the lower lock pin 14 moves backward to the left opposite to the movement of the upper lock pin 11. Similarly, when the upper lock pin 11 moves backward due to the rotation of the crank portion 9 in the opposite direction, the lower lock pin 14 moves forward so as to face the upper lock pin 11 . In this way, this device has a single drive unit 8 that simultaneously connects two upper and lower pins in opposing positions, making it possible to realize a highly safe suspended object connection mechanism 2 with a small number of parts, which has the advantage of contributing to making the suspension device 1 more compact and lightweight.

[0030] At this time, when the upper lock pin 11 and the lower lock pin 14 are linked to each other and move forward and backward in opposition to each other, the two upper and lower pins remain parallel to each other, and a pin guide 15 that supports them is provided extending vertically downward in Figure 3 so that stable opposing movement can be achieved. Although it cannot be seen in the pin guide 15 in the side view of Fig. 3, as shown in Fig. 4, an enlarged perspective view of the suspended object coupling mechanism 2, through holes through which the upper lock pin 11 and the lower lock pin 14 can pass are provided at upper and lower positions of the pin guide 15 corresponding to them. The shape and size of these through holes are appropriately adjusted so that both pins can pass through the pin guide 15 and move freely forward and backward, without causing unnecessary errors in their operation. The upper lock pin 11 passes through a through hole above the pin guide 15, and moves forward or backward laterally due to the interlocking of the crank portion 9 and the upper link portion 10. The lower lock pin 14 below it also passes through a through hole below the pin guide 15 while maintaining a parallel positional relationship with the upper lock pin 11, and moves forward or backward laterally to face the upper lock pin 11.

[0031] The tips of the upper lock pin 11 and the lower lock pin 14, which pass through the two through holes of the pin guide 15 and advance alternately, are further forward of the pin guide 15 and reach a movable receiving seat 16 that is arranged vertically parallel to the pin guide 15. In FIG. 4, the upper lock pin 11 reaches a through hole located above the movable seat portion 16 to the right of it, and the fixed seat portion 6 and the movable seat portion 16 are separated by the upper lock pin 11, with the upper portion blocked. In this way, two locking mechanisms are realized by the upper lock pin 11, the lower lock pin 14, and the fixed seat portion 6 and the movable seat portion 16. The configuration and function of these mechanisms are basically similar to a lock structure, but they are a series of locking functions that are alternately and simultaneously executed in conjunction with the forward and reverse movements of the crank portion 9.

[0032] In addition, in order to ensure that the upper and lower locking mechanisms, which consist of two upper and lower pins and two parallel seats, operate smoothly and reliably, the lengths of the upper locking pin 11 and the lower locking pin 14 of this device may be adjusted in advance. This involves changing the length of both pins, taking into consideration the effect of the downward protrusion 12 on the load lock mechanism; as an example of specific values ​​obtained from demonstration using a prototype, we are considering a specification in which the length of the lower lock pin 14 is set to be shorter, within the range of 88% to 90% of the length of the upper lock pin 11, with 89% as the benchmark. The basic idea behind this adjustment is as follows:

[0033] In this device, in order to hold the two pins vertically and horizontally while allowing them to move smoothly in opposition to one another, the crank part 9 in a neutral position is arranged vertically and parallel to the fixed receiving seat part 6, pin guide 15, and movable receiving seat part 16. At this time, since the lengths of the pins are different between the top and bottom, the upper lock pin 11, which was securely fitted into the upper receiving seat 17, starts to separate from the upper receiving seat 17 after the lower lock pin 14 reaches the lower receiving seat 18. With this interlocking, the lower lock pin 14 closes the gap between the fixed receiving seat part 6 and the movable receiving seat part 16, so there is no risk of the cargo that was held by the upper lock pin 11 up until then coming off the suspended object connecting mechanism 2 and falling. Furthermore, even in a situation where the forward movement of the upper lock pin 11 having the downward projection 12 is blocked by the movable receiver 16, the lower lock pin 14, which moves backward in response to the remote control operation, can reliably open the gap between the fixed receiver 6 and the movable receiver 16. Therefore, the ring 21 can be quickly connected to or disconnected from the suspended object coupling mechanism 2 during loading or unloading operations.

[0034] In the movable receiving portion 16 in Fig. 4, which shows the suspended object coupling mechanism 2 from an angle, the presence of an upper receiving seat 17 corresponding to the tip of the upper lock pin 11 and a lower receiving seat 18 corresponding to the tip of the lower lock pin 14 can also be confirmed. The upper receiving seat 17 and the lower receiving seat 18 are assumed to be similar to the two upper and lower through holes provided in the pin guide 15, but are not necessarily limited to this. Unlike the through hole shown in Fig. 4, two recesses, one above and one below, may be provided in the movable receiving seat portion 16. If the upper lock pin 11 and the lower lock pin 14 are prismatic, the upper receiving seat 17 and the lower receiving seat 18 will have a corresponding shape.

[0035] Then, when the tip of the upper lock pin 11 fits into the upper receiver 17, the gap between the fixed receiver 6 and the movable receiver 16 is closed and the upper lock mechanism is locked. In the same way, when the tip of the lower lock pin 14 fits into the lower receiver 18, the gap between the fixed receiver 6 and the movable receiver 16 is closed and the lower lock mechanism is locked. In the upper receiver 17 in Figure 4, the tip of the upper lock pin 11 reaches about the middle of the through hole, and it can be confirmed that the upper lock mechanism is locked. As shown in FIG. 4, in addition to the pin guide 15 and the movable seat 16 provided in the movable part 7, the suspended object connecting mechanism 2 is also assumed to have a fixed seat 6 provided in the fixed part 3 and becoming part of the load lock mechanism, but this will be explained later.

[0036] The pin guide 15 and the movable seat portion 16 may be formed integrally with the movable portion 7, as shown in Figures 3 and 4, or may be retrofitted to the movable portion 7 in the same manner as the drive portion 8 and crank portion 9, etc., and may together constitute the movable portion 7. The movable part 7 is provided with a movable part connecting means 19 which serves as an internal connecting mechanism corresponding to the fixed part 3 and connects the two in a movable state. 2, the movable part connecting means 19 can be seen as connecting parts with the fixed part 3 provided at the four corners of the lower part of the movable part 7, and further as a total of four connecting holes, two on each side between them. Four fixing bolts extending upward from the fixed part 3 pass through these four connecting holes, and the tip sides of these bolts are treated so that they will not become detached and fall off.

[0037] Next, the individual components of the fixed portion 3 will be described. The following is a description of a suspension system 1 equipped with a load lock mechanism. The fixed part 3 can be said to be the base of the device, and serves as a foundation on which the movable part 7 described above and the other elements described below that are disposed on the fixed part 3 are mounted. The fixed part 3 is provided with fixed part connecting means 5, which serves as an internal connecting mechanism, corresponding to the movable part connecting means 19 of the movable part 7. In Figures 2 and 3, the fixed part connecting means 5 can be seen in two places on each of the left and right sides, i.e., at the four corners where the fixed part 3 faces the movable part 7. In addition, a total of four fixing bolts fixed through four connecting holes in the movable part 7 and four coil springs corresponding to each fixing bolt also form part of the fixed part connecting means 5. In this way, the movable part 7 is firmly connected to the fixed part 3 by the four lower corners and the four fixing bolts so that it will not separate, but as we have mentioned from time to time, the fixed part 3 and the movable part 7 are by no means in a fixedly connected state. The movable part 7 is held in place relative to the fixed part 3 in a state in which it can be raised and lowered within a specified range, and this is made possible by the internal connection mechanism.

[0038] 2 and 3, each of the four bolts extending from the fixed part 3 has a coil spring attached to the underside of a connecting hole sandwiched between the fixed part 3 and the movable part 7. This coil spring is a compression coil spring that generates a force between the fixed part 3 and the movable part 7 that moves them away from each other, and is an example of an elastic body provided in the internal connecting mechanism. When the suspension device 1 is in an unladen state, i.e., when no cargo is being loaded, the repulsive force generated by this coil spring keeps the movable part 7 lifted to the uppermost position, farthest from the fixed part 3. Conversely, when cargo is hoisted into the air by the suspension device 1 and the load is applied to the suspended object connecting mechanism 2 of the movable part 7, the movable part 7 sinks downward toward the fixed part 3 while compressing the coil spring. When the movable part 7 is disposed below the fixed part 3, the internal connection mechanism is configured so that the tension coil spring constantly exerts a force pulling the movable part 7 upward.

[0039] Furthermore, the fixed portion 3 shown in FIG. 3 etc. is provided with a fixed seat portion 6 in order to realize a load lock mechanism that further reinforces the above-mentioned double lock. In Fig. 3, the part rising vertically upward in an inverted L shape near the center of the fixed part 3 is the fixed seat part 6. In Fig. 4 as well, this fixed seat part 6 extends from bottom to top so as to be sandwiched between the movable seat part 16 and a pin guide 15 arranged facing downward on the movable part 7. In the examples of Figs. 3 and 4, part of the upper end side is hidden by the movable part 7 and cannot be seen, but in Fig. 5 and subsequent figures, the inverted L-shaped plate-like member is illustrated as part of the fixed part 3. This fixed seat portion 6 may be formed integrally with the fixed portion 3, but a specification that allows it to be attached and removed later, as shown in Figure 3, is believed to be advantageous in some situations in terms of maintenance and management, design and manufacturing of the device.

[0040] 5 to 8 are reference diagrams showing the operation of the suspended object connecting mechanism 2 of the present device. Only the main parts are shown in the side view of Fig. 3, and the fixed part 3, the movable part 7, the fixed seat part 6, the pin guide 15, and the movable seat part 16 are shown in cross section so that their relative positions can be easily understood. Also, the ring 21 is not shown so that the relative position of the downward projection 12 can be easily seen. The pin guide 15 and the movable seat 16, which have already been described, rise and fall together with the entire movable part 7 relative to the fixed part 3 due to the weight of the cargo hoisted by the drone. During transportation, the load of the cargo is applied to the suspended object connecting mechanism 2 via the upper lock pin 11, so that the movable part 7 descends as a whole, and when that load is lost, the movable part 7 rises as a whole. At this time, the crank portion 9, which is part of the movable portion 7, also rises and falls, but the same is true for the upper lock pin 11 and the lower lock pin 14, and the relative vertical positional relationship between the two pins and the pin guide 15 and the movable receiving seat portion 16 never changes. The upper and lower pins pass through the pin guide 15 and remain parallel, and their tips are kept in a state where they can fit into the upper receiving seat 17 and the lower receiving seat 18 of the movable receiving seat portion 16, and the movable portion 7 moves up and down as a whole.

[0041] On the other hand, the fixed seat portion 6, which is provided on the fixed part 3 and extends between the pin guide 15 and the movable seat portion 16, like the fixed part 3, changes its relative positional relationship with the movable part 7, which moves up and down depending on the presence or absence of cargo, in the vertical direction within a predetermined range. Therefore, the relative vertical positional relationship with the upper lock pin 11 and the lower lock pin 14 also fluctuates within a certain range, so this fixed seat portion 6 is provided with two vertically long through holes arranged vertically in correspondence with the range of vertical movement of the two pins. These can also be seen in Figure 4 and subsequent figures. The upper lock pin 11 passes through the elongated through hole on the upper side while moving forward or backward, and the lower lock pin 14 passes through the elongated through hole on the lower side while moving back and forth opposite the upper lock pin 11.

[0042] For this reason, when the entire movable part 7, including the two lock pins aligned parallel to one another, is raised to its farthest position from the fixed part 3, the upper lock pin 11 and the lower lock pin 14 are located at the top of the elongated through-hole in the fixed seat part 6. This state is shown in Figures 5 and 6. Conversely, when the movable part 7 approaches the fixed part 3 and reaches its lowest position, the positions of both pins are at the lowest positions of the elongated through holes in the fixed seat part 6, as shown in Figs. At this time, the downward projection 12 near the tip of the upper lock pin 11 fits into the lower side of the vertically long through hole above the fixed seat 6 as shown in Figure 8, so the upper lock pin 11 cannot pass through the fixed seat 6 and move backwards. This is the third locking function, a load lock mechanism to prevent unintentional dropping of cargo.

[0043] The delivery worker transmits an operation signal for the suspension device 1 from the transmitter to the drone. The suspended object connection mechanism 2 operates in response to the operation signal. Before loading, cargo is not yet connected to the suspended object connection mechanism 2 of the suspension device 1. The lower lock pin 14 is in a rearward position, and the lower lock mechanism of the suspended object connection mechanism 2 is unlocked. Meanwhile, the upper lock pin 11 above it is in a forward position, pushed out by the crank portion 9 and the upper link portion 10, and the upper lock mechanism is in a closed state, as shown in FIG. The worker loading the cargo passes the ring 21 at the end of the rope 20 that is connected to the cargo between the tip of the lower lock pin 14 and the lower support 18, and combines it with the suspended object connection mechanism 2. When the remote control is operated, the crank part 9 rotates in the opposite direction, and the lower link part 13 pushes the lower lock pin 14 forward, locking the lower lock mechanism. This state is shown in Figure 6.

[0044] At this time, the upper link portion 10 moves the upper lock pin 11 backward in the opposite direction to the lower lock pin 14. The worker guides the ring 21 further above the upper lock pin 11 through the gap generated between the tip of the upper lock pin 11 and the upper receiver 17, and moves it to the innermost position of the suspended object connecting mechanism 2. Then, by operating the remote control again and moving the upper lock pin 11 forward, the state returns to that shown in Fig. 5 and the upper lock mechanism is locked. At this point, the ring 21 is hooked onto the upper lock pin 11, and the cargo is securely held by the suspended object coupling mechanism 2.

[0045] In this state, the drone with the cargo suspended from it rises and hoists the cargo before transitioning to flight mode. Before the cargo is suspended or before the flight, the suspended object connection mechanism 2 is in the state shown in Figure 5, with no cargo load applied to the upper lock pin 11. Figure 7 is a reference diagram showing the state after flight when the load lock mechanism is activated. That is, the weight of the cargo lifted by the drone acts as a downward force on the upper lock pin 11. The movable part 7, which had been raised to the highest position farthest from the fixed part 3 by the repulsive force of the coil spring while unladen, descends so as to sink toward the fixed part 3, and transitions from the state shown in FIG. 5 to the state shown in FIG. 7.

[0046] At this time, the vertical positions of the upper lock pin 11 and the lower lock pin 14 have dropped from the state shown in FIG. 5, in which they were at the top of the elongated through hole of the fixed seat portion 6 when there was no cargo load, to the bottom of the through hole as shown in FIG. 7. Even if a rotational force is applied to the crank portion 9 to unlock the upper locking mechanism due to an incorrect operation of the remote control or a malfunction of this device, there is a downward projection 12 on the underside near the front end of the upper locking pin 11. This downward projection 12 engages with the lower side of the vertically long through hole on the upper side of the fixed seat portion 6 as shown in Figure 8. Therefore, the upper locking pin 11 cannot slip through the through hole of the fixed seat portion 6 and move further backward, and the upper locking mechanism cannot be released. The cargo remains safely suspended, and this series of structures that function due to the load of the cargo is the load lock mechanism of this device.

[0047] With the upper lock mechanism and the load lock mechanism functioning reliably, the cargo held safely by the suspension device 1 is lifted up by the drone and transported to the destination. Even if an operational error or malfunction occurs during this flight, the load lock mechanism ensures that there is no risk of the upper lock mechanism being released. After that, the drone will arrive at the destination and descend to unload the cargo. Then, the worker will confirm that the cargo has landed and begin the task of separating the cargo for unloading. At this time, the drone is expected to remain in the air in a hovering position in order to carry out the transportation work efficiently. When the cargo lands, the load on the upper lock pin 11 is released, and the movable part 7 rises again away from the fixed part 3 due to the repulsive force of the coil spring. As a result, the vertical positions of the upper lock pin 11 and the lower lock pin 14 both move to the top of the upper and lower vertically elongated through holes of the fixed seat 6, and the load lock mechanism formed by the engagement between the downward protrusion 12 of the upper lock pin 11 and the fixed seat 6 is released. In other words, the state has returned from that of FIG. 7 to that of FIG. 5.

[0048] At this time, when the operator moves an operating part such as a lever of the transmitter in a specified direction, the tip of the upper lock pin 11 separates from the movable seat part 16 and passes through the long through-hole of the fixed seat part 6, moving backwards toward the pin guide 15. This state is shown in Figure 6. The ring 21 supported by the upper lock pin 11 falls downward through the gap that has appeared between the fixed seat part 6 and the movable seat part 16. However, at the same time as the upper lock pin 11 moves backward, the tip of the lower lock pin 14, which moves forward in opposition to it, has already reached the lower receiving seat 18 of the movable receiving seat part 16, and the lower lock mechanism is in an activated state. Therefore, the ring 21, which has fallen below the upper lock mechanism after it is unlocked, is still held by the lower lock pin 14 of the lower lock mechanism, and will not fall out of the suspended object connecting mechanism 2 of the suspension device 1.

[0049] Here, the worker continuously reverses the lever etc. in the opposite direction to the previous radio control operation, which opens the gap between the fixed seat part 6 and the movable seat part 16, which was blocked by the lower lock pin 14, as shown in Figure 5, and the lower lock mechanism is unlocked again. It is only at this stage that the ring 21 to which the cargo is connected is released from the lower lock pin 14 and completely released from the suspended object connecting mechanism 2. In this way, the upper lock mechanism, lower lock mechanism, and load lock mechanism of this device are a multiple lock mechanism that work in a complex manner to prevent unintentional dropping of cargo. Although the operation is intuitively linked to the operation of the radio control, it requires continuous operation of the radio control, which is not normally done, so double and triple safety measures are taken to prevent accidents caused by human operation errors or machine malfunctions. By using this suspension device 1, the safety of drone-based transportation work, which has been carried out up until now, will be further improved, and workers involved in the work can carry out the transportation work with peace of mind. This device is expected to be widely used in drone transportation, such as flights beyond visual line of sight in populated areas, which are expected to become more widespread in the future. [Explanation of symbols]

[0050] 1 Suspension system 2 Suspended object connection mechanism 3 Fixed part 4 External connection mechanism 5 Fixed part connecting means 6 Fixed seat part 7 Moving parts 8 Drive unit 9 Crank section 10 Upper link section 11 Upper lock pin 12 Downward process 13 Lower link section 14 Lower lock pin 15 Pin Guide 16 Movable catch part 17 Upper receiving plate 18 Lower catch seat 19 Movable part connecting means 20 Rope 21 Ring

Claims

1. A suspension device for transporting small unmanned aerial vehicles, which is equipped with a suspension connection mechanism for suspending cargo and is connected to a small unmanned aerial vehicle by an external connection mechanism; The suspended object coupling mechanism has a drive portion, an upper lock pin, a lower lock pin, and a seat portion, The drive unit holds the upper lock pin and the lower lock pin, both of which are rod-shaped, in parallel and horizontally, and moves them opposite each other forward and backward alternately, the receiving seat portion extends in a vertical direction in front of the drive unit, and includes an upper receiving seat into which a tip of the upper lock pin fits, and a lower receiving seat into which a tip of the lower lock pin fits, When loading, the transmitter sends instructions to The tip of the lower lock pin, which is moved backward by the driving unit, leaves the engaged lower receiving seat, unlocking the gap between the driving unit and the receiving seat, In conjunction with this, the upper lock pin, which is advanced by the drive unit, suspends the cargo, and the tip of the upper lock pin reaches the upper receiving seat to which it fits, locking the space between the drive unit and the receiving seat, When unloading, the transmitter sends a command to The tip of the upper lock pin, which is moved backward by the driving unit, is separated from the engaged upper receiving seat, and the driving unit and the receiving seat are unlocked, In conjunction with this, the lower lock pin, which is advanced by the drive unit, suspends the cargo, and the tip of the lower lock pin reaches the lower receiving seat to which it fits, locking the gap between the drive unit and the receiving seat, Following this, in response to an instruction from the transmitter, A suspension device for transporting small unmanned aerial vehicles, characterized in that the tip of the lower lock pin, which is moved backward by the drive unit, separates from the engaged lower support seat, unlocking the space between the drive unit and the support seat.

2. A suspension device for transporting small unmanned aerial vehicles, which is equipped with a suspension connection mechanism for suspending cargo and is connected to a small unmanned aerial vehicle by an external connection mechanism; The suspended object connecting mechanism includes a drive unit, a crank unit, an upper link unit, a lower link unit, an upper lock pin, a lower lock pin, a pin guide, and a seat unit, The drive unit has a shaft that rotates in a forward direction and a reverse direction, The crank portion is connected to the shaft of the drive portion at its center, and has an upper end and a lower end that rotate in a forward direction and a reverse direction. the upper link portion has a rear end movably connected to the upper end of the crank portion and a front end movably connected to a rear end of the upper lock pin; the lower link portion has a rear end movably connected to the lower end of the crank portion and a front end movably connected to a rear end of the lower lock pin; The upper lock pin and the lower lock pin are both rod-shaped, the pin guide extends vertically in front of the upper link portion and the lower link portion, and has upper and lower through holes through which the upper lock pin and the lower lock pin can pass forward and backward while holding the upper lock pin parallel and horizontal; the receiving seat portion extends in front of and parallel to the pin guide, and includes an upper receiving seat into which a tip of the upper lock pin fits, and a lower receiving seat into which a tip of the lower lock pin fits, When loading, the transmitter sends instructions to The drive unit rotates the crank unit in the forward direction, and the tip of the lower lock pin, which has moved backward via the lower link unit, leaves the engaged lower receiving seat and reaches the pin guide, unlocking the gap between the pin guide and the receiving seat, In conjunction with this, the upper lock pin, which has advanced through the upper link portion, suspends the cargo, and the tip of the upper lock pin reaches the upper receiving seat with which it fits, locking the space between the pin guide and the receiving seat, When unloading, the transmitter sends a command to The drive unit rotates the crank unit in the opposite direction, and the tip of the upper lock pin, which has moved backward via the upper link unit, leaves the upper receiving seat and reaches the pin guide, unlocking the gap between the pin guide and the receiving seat. In conjunction with this, the lower lock pin, which has advanced through the lower link portion, suspends the cargo, and the tip of the lower lock pin reaches the lower receiving seat with which it fits, locking the space between the receiving seat portion and the pin guide, Following this, in response to an instruction from the transmitter, A suspension device for transporting small unmanned aerial vehicles, characterized in that the drive unit rotates the crank portion in a forward direction, and the tip of the lower lock pin, which moves backward via the lower link portion, leaves the engaged lower support seat and reaches the pin guide, unlocking the gap between the pin guide and the support seat.

3. a movable part having a suspended object connecting mechanism for suspending cargo and a movable part connecting means; A suspension device for transporting a small unmanned aerial vehicle, which is used by connecting a fixed seat part and a fixed part having a fixed part connecting means to a small unmanned aerial vehicle by an external connecting mechanism, the movable part is connected to the fixed part by the movable part connecting means and the fixed part connecting means so as to descend with respect to the fixed part when a cargo load is applied and to rise with respect to the fixed part when the cargo load is removed; The suspended object coupling mechanism has a drive unit, an upper lock pin, a lower lock pin, and a movable seat unit, The drive unit holds the upper lock pin and the lower lock pin, both of which are rod-shaped, in parallel and horizontally, and moves them opposite each other forward and backward alternately, The upper lock pin has a downward projection near a tip thereof, the movable seat portion extends vertically in front of the drive portion, and includes an upper seat into which the tip of the upper lock pin fits, and a lower seat into which the tip of the lower lock pin fits, The fixed seat portion extends between the drive portion and the movable seat portion in a parallel and vertical direction, and has vertically elongated through holes in the upper and lower portions through which the upper lock pin and the lower lock pin can pass in the forward and backward directions. When loading, the transmitter sends instructions to The tip of the lower lock pin, which is moved backward by the driving unit, leaves the engaged lower seat, unlocking the space between the fixed seat portion and the movable seat portion, In conjunction with this, the upper lock pin, which is advanced by the drive unit, suspends the cargo, and the tip of the upper lock pin reaches the upper seat to which it fits, locking the space between the fixed seat part and the movable seat part, When the load of the cargo is applied due to the start of suspension, the movable part descends relative to the fixed part, and the downward protrusion fits into the lower side of the vertically elongated through hole of the fixed seat part, so that the upper lock pin cannot pass through the vertically elongated through hole, and the relationship between the fixed seat part and the movable seat part is not unlocked, When the load of the cargo is removed due to the end of the suspension, the movable part rises relative to the fixed part, and the downward protrusion comes off the lower side of the vertically elongated through hole of the fixed seat part, so that the upper lock pin can pass through the vertically elongated through hole, When unloading, the transmitter sends a command to The tip of the upper lock pin, which is moved backward by the driving unit, leaves the engaged upper seat, unlocking the space between the fixed seat portion and the movable seat portion, In conjunction with this, the lower lock pin, which is advanced by the drive unit, suspends the cargo, and the tip of the lower lock pin reaches the mating lower support, locking the space between the fixed support unit and the movable support unit, Following this, in response to an instruction from the transmitter, A suspension device for transporting small unmanned aerial vehicles, characterized in that the tip of the lower lock pin, which is moved backward by the drive unit, separates from the engaged lower support seat, unlocking the space between the fixed support portion and the movable support portion.

4. a movable part having a suspended object connecting mechanism for suspending cargo and a movable part connecting means; A suspension device for transporting a small unmanned aerial vehicle, which is used by connecting a fixed seat part and a fixed part having a fixed part connecting means to a small unmanned aerial vehicle by an external connecting mechanism, the movable part is connected to the fixed part by the movable part connecting means and the fixed part connecting means so as to descend with respect to the fixed part when a cargo load is applied and to rise with respect to the fixed part when the cargo load is removed; The suspended object connecting mechanism includes a drive unit, a crank unit, an upper link unit, a lower link unit, an upper lock pin, a lower lock pin, a pin guide, and a movable seat unit, The drive unit has a shaft that rotates in a forward direction and a reverse direction, The crank portion is connected to the shaft of the drive portion at its center, and has an upper end and a lower end that rotate in a forward direction and a reverse direction. the upper link portion has a rear end movably connected to the upper end of the crank portion and a front end movably connected to a rear end of the upper lock pin; the lower link portion has a rear end movably connected to the lower end of the crank portion and a front end movably connected to a rear end of the lower lock pin; The upper lock pin and the lower lock pin are both rod-shaped, and the upper lock pin has a downward protrusion near a tip thereof, the pin guide extends vertically in front of the upper link portion and the lower link portion, and has upper and lower through holes through which the upper lock pin and the lower lock pin can pass forward and backward while holding the upper lock pin parallel and horizontal; the movable seat portion extends in front of and parallel to the pin guide, and includes an upper seat into which the tip of the upper lock pin fits, and a lower seat into which the tip of the lower lock pin fits, The fixed seat portion extends parallel to and vertically between the pin guide and the movable seat portion, and includes vertically elongated through holes through which the upper lock pin and the lower lock pin can pass in the forward and backward directions. When loading, the transmitter sends instructions to The drive unit rotates the crank unit in the forward direction, and the tip of the lower lock pin, which has moved backward via the lower link unit, leaves the engaged lower seat, unlocking the space between the fixed seat unit and the movable seat unit. In conjunction with this, the upper lock pin, which has advanced through the upper link portion, suspends the cargo, and the tip of the upper lock pin reaches the upper receiving seat to which it fits, locking the space between the fixed receiving seat portion and the movable receiving seat portion, When the load of the cargo is applied due to the start of suspension, the movable part descends relative to the fixed part, and the downward protrusion fits into the lower side of the vertically elongated through hole of the fixed seat part, so that the upper lock pin cannot pass through the vertically elongated through hole, and the relationship between the fixed seat part and the movable seat part is not unlocked, When the load of the cargo is removed due to the end of the suspension, the movable part rises relative to the fixed part, and the downward protrusion comes off the lower side of the vertically elongated through hole of the fixed seat part, so that the upper lock pin can pass through the vertically elongated through hole, When unloading, the transmitter sends a command to The drive unit rotates the crank unit in the opposite direction, and the tip of the upper lock pin, which has moved backward via the upper link unit, leaves the engaged upper seat, unlocking the space between the fixed seat unit and the movable seat unit. In conjunction with this, the lower lock pin, which has advanced through the lower link portion, suspends the cargo, and the tip of the lower lock pin reaches the mating lower support, locking the fixed support portion and the movable support portion, Following this, in response to an instruction from the transmitter, A suspension device for transporting small unmanned aerial vehicles, characterized in that the drive unit rotates the crank portion in a forward direction, and the tip of the lower lock pin, which moves backward via the lower link portion, separates from the engaged lower support seat, unlocking the gap between the fixed support portion and the movable support portion.

5. A suspension device for transporting small unmanned aerial vehicles as described in either claim 3 or claim 4, characterized in that the movable part is connected to the fixed part by the movable part connecting means and the fixed part connecting means so that the movable part descends relative to the fixed part due to compression of the elastic body due to the application of a cargo load, and rises relative to the fixed part due to expansion of the elastic body due to the removal of the cargo load.

6. the drive unit is a motor, A suspension device for transporting small unmanned aerial vehicles as described in either claim 3 or claim 4, characterized in that the movable part is connected to the fixed part by the movable part connecting means and the fixed part connecting means so that the movable part descends relative to the fixed part due to compression of the spring when a cargo load is applied, and rises relative to the fixed part due to expansion of the spring when the cargo load is removed.

7. A suspension device for transporting a small unmanned aerial vehicle as described in any one of claims 1 to 4, characterized in that the length of the lower lock pin is adjusted to be shorter within a range of 88% to 90% of the length of the upper lock pin.

8. A suspension device for transporting small unmanned aircraft as described in either claim 2 or claim 4, characterized in that it is operated by a transmitter having an operating unit that can be operated in a reverse direction and a forward direction to transmit an operating signal to rotate the shaft of the drive unit in a forward or reverse direction.

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