Actuator, safety device, and flying body

Abstract

To provide an actuator, a safety device, and a flying body equipped with the safety device in which a moving speed or altitude of a moving body launched during operation is improved compared with conventional techniques.SOLUTION: A safety device 100 includes: a moving body 40 launched in one direction by an actuator 1; an expansion object body 16 that is pulled by the launched moving body 40; and a bottomed cylindrical container 18 that houses the actuator 1, the moving body 40, and the expansion object body 16. The moving body 40 includes: a cylindrical portion 41 that is a bottomed cylindrical member and is disposed so as to cover an outer portion of an upper end of a cylinder 14; a reduction part 42 that is formed in a shape that gradually decreases in size in a reverse direction from a connection portion with the cylindrical portion 41; a hole 43 that is formed inside the cylindrical portion 41; a hole 44 that is formed at a central portion of a bottom portion of the hole 43; and a pair of through holes 46, 47 for connecting cables to which one end of each connecting cable connected to the expansion object body 16 is connected. A gap 80 is formed between the hole 43 and the upper end of the cylinder 14.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an actuator used to move a moving body, a safety device including the actuator, and an aircraft including the safety device. [Background technology]

[0002] In recent years, with the development of autonomous control technology and flight control technology, the industrial use of aircraft equipped with multiple rotors, such as drones, has been accelerating. Drones fly, for example, by simultaneously rotating multiple rotors in a balanced manner. Ascending and descending can be achieved by increasing or decreasing the rotation speed of the rotors, and forward and backward movement can be achieved by tilting the aircraft through increasing or decreasing the rotation speed of the rotors. Such aircraft are expected to become more widespread worldwide in the future.

[0003] However, the risk of aircraft falling accidents such as those described above is considered dangerous and is hindering the widespread use of aircraft. To reduce the risk of such accidents, parachute devices for aircraft are being commercialized as safety devices.

[0004] For example, one example of the parachute safety device is the device described in Patent Document 1. Specifically, in the device described in Patent Document 1, a parachute is connected to a moving body via a strength rope, a pin is arranged with one end fixed on the cockpit of the multicopter, and a cavity is provided at the other end for arranging a gas generator connected to a wireless unit, and a switching logic block is arranged inside or outside the cockpit of the multicopter. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Czech Republic Patent No. 305548 Summary of the Invention [Problem to be solved by the invention]

[0006] In a device such as that disclosed in Patent Document 1, there is a strong demand for an improvement in the speed or height of the moving body that is moved by the actuator during operation.

[0007] Therefore, the present invention aims to provide an actuator that improves the movement speed or altitude of a moving object that is flown when activated compared to conventional actuators, a safety device equipped with the actuator, and an aircraft equipped with the safety device. [Means for solving the problem]

[0008] (1) The present invention is an actuator having a cylindrical cylinder and a sliding member that can slide along the inner wall of the cylinder when activated, and moves a moving body by pressing a predetermined location on the moving body with the tip of the sliding member that slides when activated, wherein the moving body is arranged so as to face the tip of the actuator that is positioned in the direction in which the sliding member slides when activated, and is characterized in that it is provided with a gap forming mechanism that forms a gap of a predetermined distance between the predetermined location on the moving body and the tip of the sliding member in the initial state.

[0009] (2) In the actuator of (1) above, the predetermined distance is preferably 1 mm to 11 mm.

[0010] (3) In the actuator of (1) above, it is preferable that the ratio of the predetermined distance to the sliding distance of the sliding member during operation is 1.59% to 17.46%.

[0011] (4) In the actuator of (1) above, the cylinder has a drive source at one end, houses the sliding member on the side opposite to the drive source, and guides the sliding member to protrude toward the other end when the drive source is activated, the moving body is a bottomed cylindrical member having a cylindrical portion at least in a portion thereof including a bottom which is the predetermined location, and the gap forming mechanism is formed by attaching an O-ring provided along the inner wall of the moving body to the cylinder in a state where the O-ring is in contact with the outer wall of the cylinder and forming a gap of the predetermined distance, or by inserting the outer wall of the cylinder at the end opposite to the drive source into the inner wall of the moving body and forming a gap of the predetermined distance, and it is preferable that the tip of the sliding member is disposed inside the moving body in an initial state so that the tip of the sliding member pushes the moving body from the bottom side of the moving body when activated.

[0012] (5) In the actuator of (4) above, it is preferable that the portion of the moving body opposite to the actuator side is formed in a shape that gradually narrows compared to the portion on the actuator side.

[0013] (6) From another viewpoint, the actuator of (1) above may further include a container having an opening and a bottom facing the opening, wherein the cylinder has a drive source at one end, houses the sliding member on the side opposite the drive source, and is attached to the bottom of the container so as to guide the sliding member to protrude toward the other end when the drive source is activated, the moving body is a lid removably provided on the opening of the container, and the gap forming mechanism is achieved by attaching the lid to the opening of the container in a state where the gap of the predetermined distance is formed, and the tip of the sliding member may be disposed at a position facing the lid so that when activated, the tip of the sliding member pushes the lid from inside the lid and removes it from the opening.

[0014] (7) The safety device of the present invention is characterized by comprising a container having an opening, a deployable object stored in the container, and any one of the actuators (1) to (6) above.

[0015] (8) In the safety device of (7) above, the moving body is connected to the deployable body via a first connecting rope, and the first connecting rope is a multiple-piece rope or a single connecting rope with one end split into multiple pieces, and when it becomes taut during activation, it is connected to the moving body so that it is in a symmetrical position with respect to the central axis of the moving body, and it is preferable that the connection position of the one end of the first connecting rope on the moving body is any one of (a) to (c) below. (a) A position where two or more through holes are formed symmetrically with respect to the central axis of the moving body from a position facing the deployable body during deployment to the outer surface of the moving body. (b) Two or more locations on the sides of the moving body, at positions symmetrical with respect to the central axis of the moving body and closer to the actuator than the center of gravity of the moving body. (c) At least two locations on the moving body that face the deployable body when deployed, and that are symmetrical with respect to the central axis of the moving body.

[0016] (9) In the safety device of (7) above, it is preferable that the device be attachable to an aircraft having a body and one or more propulsion mechanisms connected to the body and propelling the body, and that the safety device be provided with a trigger device having a starting part that starts the actuator when the aircraft is determined to be in an abnormal state or when an instruction to start the actuator is received from the operator of the aircraft.

[0017] (10) In the safety device of (9) above, it is preferable to provide a trigger device having a starting unit that starts the actuator when the flying object is determined to be in an abnormal state or when an instruction to start the actuator is received from the operator of the flying object.

[0018] (11) In the safety device of (7) above, it is preferable that the deployable body is connected to the flying vehicle via a second connecting rope.

[0019] (12) In the safety device of (7) above, it is preferable that the deployable body is a pilot chute, and that the device further includes another deployable body connected to the pilot chute, and that the pilot chute and the other deployable body are stored in the container.

[0020] (13) The aircraft of the present invention is characterized by comprising an airframe, a safety device as described in (7) above connected to the airframe, and one or more propulsion mechanisms connected to the airframe and propelling the airframe. [Effects of the Invention]

[0021] According to the present invention, it is possible to provide an actuator that improves the movement speed or altitude of a moving object that is flown when activated compared to conventional actuators, a safety device equipped with the actuator, and an aircraft equipped with the safety device. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a cross-sectional view showing an initial state of a safety device according to an embodiment of the present invention. [Figure 2] 2 is a bottom view showing the safety device of FIG. 1 with the lid and the deployable body removed. FIG. [Figure 3] FIG. 2 is a perspective view of a moving body used in the safety device of FIG. 1. [Figure 4] 2 is a front view of a moving body used in the safety device of FIG. 1. [Figure 5] 2 is a side view of a moving body used in the safety device of FIG. 1. FIG. [Figure 6] 2 is a bottom view of a moving body used in the safety device of FIG. 1. FIG. [Figure 7]2 is a cross-sectional view of a moving body used in the safety device of FIG. 1, showing a state in which one end of a connecting rope, the other end of which is connected to the top of a deployable body when deployed, is connected to the moving body. [Figure 8] FIG. 2 is a schematic diagram showing the flying body to which the safety device (initial state) of FIG. 1 is attached. [Figure 9] FIG. 2 is a block diagram showing the functional configuration of the safety device of FIG. 1. [Figure 10] FIG. 10 is a cross-sectional view showing an initial state of a safety device according to a comparative example. [Figure 11] 10 is a graph showing an approximate curve obtained based on an embodiment of the safety device of the present invention. [Figure 12] 10A and 10B are diagrams showing a moving body used in a safety device according to a modified example of the present invention. [Figure 13] 10A and 10B are diagrams showing a moving body used in a safety device according to a modified example of the present invention. [Figure 14] FIG. 10 is a cross-sectional view showing an initial state of a safety device according to a modified example of the present invention. [Figure 15] FIG. 10 is a cross-sectional view showing an initial state of a safety device according to a modified example of the present invention. [Figure 16] FIG. 10 is a cross-sectional view showing an initial state of a safety device according to a modified example of the present invention. [Figure 17] FIG. 10 is a cross-sectional view showing an initial state of a safety device according to a modified example of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0023] A safety device and an aircraft according to an embodiment of the present invention will now be described with reference to Figures 1 to 9. For ease of explanation, a connecting rope is not shown in Figure 1.

[0024] As shown in FIG. 1 , the safety device 100 includes an actuator 1, a moving body 40 launched in one direction (upward in FIG. 1 ) by the actuator 1, a deployable body 16 pulled by the moving body 40 via a connecting rope (not shown in FIG. 1 ), a cylindrical container 18 with a bottom that houses the actuator 1, the moving body 40, and the deployable body 16, and a lid 21 that closes the open end of the container 18. In this embodiment, the deployable body 16 is a parachute, a paraglider, or the like. A closing member (not shown) is provided in the gap between the container 18 and the lid 21 to prevent the intrusion of liquids, dust, or the like. Examples of this closing member include any material that is waterproof and dustproof, such as an O-ring, a hardened resin, or a foam material. As a variation of the closing member, a film-like material may be used to wrap at least the edge of the lid 21 and the side of the container 18.

[0025] Parachutes, which are an example of a deployable object that can be used in this embodiment, may be of various types, such as "FLAT CIRCULAR", "CONICAL", "BICONICAL", "TRICONICAL", "EXTENDED SKIRT", "HEMISPHERICAL", "GUIDE SURFACE", "ANNULAR", "CROSS", "FLAT RIBBON", "CONICAL RIBBON", "RIBBON", "RINGSLOT", "RING SAIL", "DISC-GAP-BAND", "ROTAFOIL", "VORTEX RING", and "SANDIA RFD". Examples include those called "RFD", "PARACOMMANDER", "PARAWING", "PARAFOIL", "SAILWING", "VOLPLANE", "BALLUTE", and those called pilot chutes.

[0026] The actuator 1 comprises a piston member 10 which is a sliding member, a cylinder 14 which houses the piston member 10 and has a hole 13 through which the piston member 10 protrudes outward (upward in FIG. 1) when actuated, a base 2 (squib holder) to which one end of the cylinder 14 is crimped and which is attached via a hole 25 in the center of the bottom inside the container 18, and a gas generator (such as a micro gas generator) 17 which serves as a power source for moving the piston member 10 within the cylinder 14.

[0027] The base 2 comprises an approximately cylindrical member 2A that holds a gas generator 17 on the cylinder 14 side, which generates power to slide the piston member 10, and a flange portion 2B provided on the opposite side of the approximately cylindrical member 2A from the cylinder 14 side.

[0028] The flange portion 2B is machined into a generally U-shaped, horseshoe-like shape and includes a plurality of holes 2a used for attachment to the container 18, a plurality of fixing holes 2b used for attachment to the airframe 31 of the flying vehicle 30 (described later), and an insertion opening 2c used for inserting an energizing connector 22 into the lower electrode 17b of the gas generator 17. The inner wall of the holes 2a is internally threaded so that a bolt 28 (described later) can be screwed into the hole 2a. The inner wall of the fixing holes 2b is also internally threaded so that a bolt (not shown) can be screwed into the flying vehicle 30 (described later) from the airframe 31 side, thereby fixing the base 2 to the airframe 31.

[0029] The connector 22 includes a main body 22a (see FIGS. 1 and 2) that can be inserted into the substantially cylindrical member 2A through the insertion opening 2c, a protrusion 22b (see FIG. 2) that protrudes from the side surface of the lower part of the main body 22a, and a hole 22c (see FIG. 1) into which an electrode 17b located inside the substantially cylindrical member 2A is inserted. The protrusion 22b is electrically connected to a connector 53 that is connected to an external power source via a wiring 52 that extends in a direction perpendicular to the insertion direction of the connector 22 (when attached to the base 2, extends radially from the center of the base 2). The main body 22a also includes a hole 22c that is electrically connected to both the electrode 17b and the wiring 52 connected to the protrusion 22b.

[0030] In addition, the insertion port 2c of the base 2 and the connector 22 are configured so that when attached to the base 2, the wiring 52 extends radially from the center of the base 2 so that it can be arranged so as not to block the hole portion 24.

[0031] The piston member 10 has a main body portion 10a having an outer diameter approximately the same as the inner diameter of the cylinder 14, a rod-shaped portion 10b connected to the main body portion 10a, extending upward, and having a smaller diameter than the main body portion 10a, a hole portion 10c provided inside the main body portion 10a and the rod-shaped portion 10b, a hole portion 10d provided at the upper end portion of the rod-shaped portion 10b, and a groove portion 10e provided circumferentially around the main body portion 10a.

[0032] Although not shown, at least the upper end of the rod-shaped portion 10b has a non-circular cross section. Here, a non-circular shape refers to, for example, a polygonal, elliptical, star-shaped, or gear-shaped shape, but any non-circular shape is also included. In this embodiment, the upper end of the rod-shaped portion 10b, which is inserted into a hole 44 of the movable body 40 (described later), has a square cross section. The tubular member 4 is fitted or loosely fitted into the lower part of the rod-shaped portion 10b, with one end of the tubular member 4 in contact with the main body 10a. A gap may exist between the inner wall of the tubular member 4 and the outer wall of the rod-shaped portion 10b, but the gap need only be large enough not to interfere with plastic deformation due to substantially uniform compression during a collision (described later).

[0033] As shown in Fig. 1, tubular member 4 is held by holding member 5 at the bottom of rod-shaped portion 10b with one end in contact with main body portion 10a. Tubular member 4 is made of a material that undergoes plastic deformation and has a lower tensile strength than piston member 10 and stopper member 23 (described below) (e.g., metals such as iron, aluminum, brass, copper, alloys such as stainless steel, resins, etc.) (e.g., metals such as aluminum and brass, alloys such as stainless steel, resins such as monomer cast nylon, polyamide synthetic resins such as nylon 6, nylon 6,6, and nylon 4,6, etc.). Here, holding member 5 may be an elastic member such as rubber, or may be made of the same material as tubular member 4, and may be ring-shaped or clip-shaped.

[0034] Furthermore, the tubular member 4 and the inner wall of the cylinder 14 are spaced apart by at least a predetermined distance (for example, a distance at which the tubular member 4, which has been plastically deformed by substantially uniform compression when it collides with the stopper member 23, will not come into contact with the inner wall of the cylinder 14) so ​​that the tubular member 4 does not come into contact with the inner wall of the cylinder 14. As a result, even if the tubular member 4 collides with the stopper member 23 and is plastically deformed, it deforms without being hindered by the inner wall of the cylinder 14, and the impact on the piston member 10 is sufficiently absorbed.

[0035] The hole 10c is formed along the central axis from the lower end of the main body 10a to partway along the rod-shaped portion 10b, thereby making the piston member 10 lighter than if the hole 10c were not formed.

[0036] The hole 10d is formed from the tip of the rod-shaped portion 10b to partway along the central axis, thereby making the piston member 10 lighter than if the hole 10d were not formed.

[0037] A seal member 11 such as an O-ring is provided in the circumferential direction in the groove portion 10e.

[0038] A substantially cylindrical stopper member 23 is provided at the top of the cylinder 14 so as to surround a portion of the rod-shaped portion 10b of the piston member 10. That is, the rod-shaped portion 10b is disposed in a state of being inserted through a hole 13 in the stopper member 23. The cylinder 14 is also provided with through-holes 14a for releasing air within the space 6 to the outside during operation. Although only two through-holes 14a are provided in FIG. 1, a plurality of through-holes 14a may be provided in the circumferential direction.

[0039] The stopper member 23 restricts the movement of the tubular member 4 within the cylinder 14, and has a groove 23a provided along the outer periphery and a groove 23b provided along the inner periphery. The groove 23a is used to fix the other end of the cylinder 14 by crimping to the stopper member 23. Furthermore, a seal member 12 such as an O-ring is provided in the circumferential direction in the groove 23b.

[0040] The material of the cylinder 14 may be selected and the thickness of the outer periphery may be appropriately adjusted so that the cylinder 14 can undergo radial plastic deformation in the event that the piston member 10 of the actuator 1 becomes immobile for some reason, and that the initial combustion volume of the actuator 1 (for example, the volume between the igniter and the piston) is reduced, causing the explosive to burn and generating a combustion pressure exceeding the pressure resistance value of the cylinder 14 (in an abnormal situation). Examples of materials that can be used to form the cylinder 14 include metals such as iron, aluminum, brass, and copper, and alloys such as stainless steel. As a result, in the above-mentioned abnormal situation, the cylinder 14 undergoes radial plastic deformation, which reduces (relaxes) the sealing performance of the sealing member 11, such as an O-ring, and creates a gap between the sealing member 11 and the inner wall of the cylinder 14 through which generated gas can pass. Therefore, by allowing the gas generated in the event of the above-mentioned abnormal situation to leak out from this gap, the gas will be released to the outside of the cylinder 14 through the through-hole 14a, then pass through the outer wall of the cylinder 14 and into the container 18, and then be released to the outside of the container 18 through the hole 24, thereby preventing the cylinder 14 from rupturing (fail-safe function).

[0041] The gas generator 17 is arranged below a main body portion 10a (described later) of the piston member 10 in a state in which it is press-fitted or crimped into the lower open end of the cylinder 14. In addition, a cylindrical member 3 is provided around the cup body 17a of the gas generator 17 to form a predetermined distance between it and the piston member 10.

[0042] 1 to 7, the movable body 40 is a cylindrical member with a bottom (such as a substantially cylindrical member having a bottom or a member having a polygonal cross section) made of metal (such as aluminum or iron, and may be an alloy), resin, or a composite material of resin and metal, CFRP, fiber-reinforced resin, etc., and has a cylindrical portion 41 arranged to cover a part of the cylinder 14, i.e., the outer part of the upper end of the cylinder 14, and a tapering portion 42 formed in a shape that gradually taperes in the opposite direction (upward in the plane of the paper in FIG. 1) from the connecting portion with the cylindrical portion 41. The cylindrical portion 41 is formed in a cylindrical shape or has a polygonal cross section.

[0043] The movable body 40 also has a hole 43 formed inside the cylindrical portion 41, a hole 44 formed in the center of the bottom of the hole 43, a through hole 45 that penetrates from the bottom of the hole 44 to the side opposite the actuator 1, and a pair of through holes 46, 47 for connecting ropes.

[0044] An annular groove 48 into which a seal member 49 (such as an O-ring) is fitted is formed on the inner wall of the hole 43. The hole 43 and the tip of the piston member 10 are both non-circular and fit together.

[0045] Furthermore, a gap 80 of the above-mentioned predetermined distance is formed between the bottom of the hole 44 and the tip of the piston member 10. This predetermined distance is preferably 1 mm to 11 mm. Furthermore, the ratio of the gap 80 to the stroke is preferably 1.59% to 17.46%. Here, the stroke refers to the sliding distance of the piston member 10 during operation. Details will be described later. In this embodiment, the length of the tip of the piston member 10 is adjusted in advance (for example, the length of the tip of the piston member 10 inserted into the hole 44 is designed to be shorter than the depth of the hole 44 (the distance from the bottom of the hole 43 to the bottom of the hole 44) so ​​that the above-mentioned predetermined distance is provided between the tip of the piston member 10 and the bottom of the hole 44)), thereby forming the gap 80 between the tip of the piston member 10 and the bottom of the hole 44 (an example of a gap forming mechanism). As a modified example of the gap forming mechanism, it is also possible to mount the movable body 40 on the upper part of the cylinder 14 by press-fitting the seal member 49 (O-ring) provided along the inner wall part of the movable body 40 into the outer wall part of the cylinder 14 in a state where a gap 80 of a predetermined distance is formed by the seal member 49 fitted into the groove part 48. With this configuration, it is also possible to form the gap 80 of a predetermined distance between a predetermined location of the movable body 40 and the tip end of the piston member 10. As another modified example of the gap forming mechanism, the movable body 40 may be mounted on the cylinder 14 by press-fitting the inner wall part of the movable body 40 into the outer wall part of the cylinder 14 at the end (upper part) opposite the gas generator 17 (drive source) in a state where a gap 80 of a predetermined distance is formed. As another variation of the gap forming mechanism, a ring-shaped washer may be disposed between the bottom of the hole portion 43 and the top of the stopper member 23 to adjust the position of the tip of the piston member 10 inserted into the hole portion 44, thereby forming a gap 80 between the tip of the piston member 10 and the bottom of the hole portion 44.

[0046] A pair of connecting rope through holes 46, 47 are located closer to the actuator 1 than the center of gravity of the moving body 40, and are formed symmetrically about the central axis of the moving body 40, penetrating from the actuator 1 side surface of the moving body 40 toward the side wall portion of the moving body 40.

[0047] Although not shown in figures other than Figure 7, a connecting rope 50 is connected at one end to the top of the deployable body 16 (here, a parachute) to each of the connecting rope through holes 46, 47. Specifically, the distal ends of forks 50a, 50b formed at the other end of the connecting rope 50 are fastened to the connecting rope through holes 46, 47, respectively, to form annular portions 50a1, 50b1. The distal ends of the forks 50a, 50b may be fixed to the connecting rope through holes 46, 47, respectively, by adhesive or the like. The forks 50a, 50b have the same length and are arranged so that they are simultaneously tensioned when the deployable body 16 is pulled out during activation.

[0048] The contracting portion 42 has a shape that gradually contracts from the portion on the actuator side, and may have any shape, such as a truncated cone shape (as shown in this embodiment), a cone shape, or a streamlined shape such as an arc-shaped cross section of the side wall, as long as it gradually becomes smaller than the size of the connecting portion with the cylindrical portion 41. This makes it possible to reduce the air resistance of the moving body 40 launched upon activation, compared to a case in which the contracting portion 42 is not provided.

[0049] 1 and 2, container 18 has peripheral wall 18a and bottom 18b. Polyamide (natural) or polyamide (carbon glass FRP) is preferred as the material for container 18. Both polyamide (natural) and polyamide (carbon glass FRP) have a static friction coefficient of 0.71 and a dynamic friction coefficient of 0.08.

[0050] As shown in Figures 1 and 2, the bottom 18b of the container 18 is provided with a plurality of holes 24 that connect the inside and outside of the container 18, a hole 25 into which the base 2 is inserted, and a hole 29 for bolt fastening.

[0051] As shown in Figure 1, hole portion 25 is closed by fastening hole portion 2a provided in flange portion 2B of base 2 located outside the bottom of container 18 from the inside of container 18 with bolt 28 through hole portion 29.

[0052] The deployable body 16 is housed within the container 18 between the inner surface of the container 18 and the outer surface of the cylinder 14, for example, so as to surround the outer surface of the cylinder 14. The deployable body 16 is folded with its outer surface in contact with the inner wall surface of the peripheral wall 18a of the container 18. The deployable body 16 is connected via a suspension line (not shown) to one end of a bridle line (not shown) attached to the fuselage 31 of the flying vehicle 30 (described below) or the container 18. Alternatively, the deployable body 16 is connected (for example, by locking) to a jig (not shown; capable of being fixed to the body 31 of the aircraft 30) provided on the lower surface of the base 2 of the container 18 via lines connected in this order: a suspension line (not shown), a bridle line (not shown; may be omitted), and an attachment line (not shown), which pass through the interior of the container 18 and a through-hole (not shown) provided in the bottom, or connected (for example, by fastening or connecting) to the body 31, legs 33, or arms 34 of the aircraft 30. Here, as a modified example, the deployable body 16 may be folded in an accordion-like shape (with a wavy cross section) from the edge toward the center, or may be folded in some other way.

[0053] Here, in this embodiment, the deployable object 16 is, for example, a parachute, a paraglider, or a pilot chute. If the deployable object 16 is a pilot chute, it may be connected to another deployable object (such as another parachute or paraglider). The base fabric of the pilot chute, parachute, or paraglider is preferably formed by knitting at least one fiber selected from polyamide, polyester, polyimide, vinyl chloride, polycarbonate, acrylic, and polyolefin fibers. For example, the base fabric may be formed by joining together multiple pieces of fabric knitted from one type of fiber, or by joining together a fabric knitted from one fiber with a fabric knitted from another fiber, or by knitting together multiple types of fiber. The base fabric of the pilot chute, parachute, or paraglider may also be formed by at least one film made from a polyamide, polyester, polyimide, vinyl chloride, polycarbonate, acrylic, or polyolefin resin. For example, the base fabric may be made by joining multiple sheets of one type of film together, or by joining multiple types of films together. The fabrics or films may be joined together by any means, such as pressure bonding, adhesion with an adhesive, or sewing.

[0054] Examples of polyamide fibers or resins include nylon 6, nylon 6,6, and nylon 4,6. Examples of polyester fibers or resins include polyethylene terephthalate, polybutylene terephthalate, polyethylene naphthalate, and polybutylene succinate. Examples of polyimide fibers or resins include aromatic polyimides and aliphatic polyimides. Examples of vinyl chloride fibers or resins include vinyl chloride films, examples of polycarbonate fibers or resins include polycarbonate films, examples of acrylic fibers or resins include acrylic films, and examples of polyolefin fibers or resins include low-density polyethylene, high-density polyethylene, and polypropylene. The base fabric may be coated with a coating agent such as silicone or polyurethane.

[0055] The gas generator 17 may use only an igniter, or may be a gas generator equipped with an igniter and a gas generant. Also, a hybrid or stored-type gas generator may be used, in which a gunpowder-type igniter ruptures the seal of a small gas cylinder, releasing the gas inside. In this case, the pressurized gas in the gas cylinder may be a non-flammable gas such as argon, helium, nitrogen, or carbon dioxide, or a mixture of these. Furthermore, the gas generator may be equipped with a heating element made of a gas generant composition, a thermite composition, or the like, to reliably propel the piston when the pressurized gas is released.

[0056] The piston member 10, the cylinder 14, the moving body 40, the gas generator 17, and the like mainly constitute an ejection section that ejects the deployable body 16.

[0057] As shown in the schematic diagram of the aircraft in Fig. 8, the safety device 100 is connected and fixed to the airframe 31 of the aircraft 30 by bolts (not shown) from the airframe 31 side via the fixing holes 2b of the base 2. At this time, as shown in Fig. 8, the base 2 connects the container 18 to the airframe 31 in a position that does not block the holes 24. Therefore, the aircraft 30 includes the airframe 31, the safety device 100 connected to the airframe 31, one or more propulsion mechanisms (e.g., propellers) 32 connected to the airframe 31 and propelling the airframe 31, and a plurality of legs 33 provided on the lower part of the airframe 31. Here, for example, the safety device 100 is connected to the airframe 31 via a mount member (not shown).

[0058] Furthermore, because the flange portion 2B of the base 2 is provided on the outside of the bottom of the container 18, the base 2 can be attached directly to the airframe 31 of the aircraft 30. As a result, the airframe 31 is subjected to the recoil during activation directly, rather than via the container 18. However, since the impact of activation on the container 18 can be reduced, the strength of the bottom of the container 18 can be reduced compared to when the base 2 is provided inside the container 18. In other words, the strength of the bottom of the container 18 can be safely reduced compared to conventional containers (for example, by designing the thickness of the bottom of the container 18 to be reduced to a safe, predetermined thickness), and the container 18 as a whole can be made lighter than conventional containers while maintaining the same level of safety as conventional containers.

[0059] The aircraft 31 may have an airbag (gunpowder, hybrid, cylinder, fan, naturally aspirated), a float (hybrid, cylinder, naturally aspirated) arranged separately from the parachute, and a warning (alert, LED). If the aircraft 30 is a flying car, the aircraft 31 may have a shock-absorbing seat for a person.

[0060] The safety device 100 also includes a trigger device 60 (not shown in FIG. 8) that includes an acceleration sensor or the like that detects abnormalities in the flying object 30.

[0061] The connector 22 is located on the other side of the gas generator 17 and is connected to the electrode 17b. The wiring 52 is connected to the connector 22 and a connector 53. The connector 53 is connected to a trigger device 60. As a result, a signal from the trigger device 60 is supplied to the gas generator 17, and the gas generator 17 is activated.

[0062] As shown in FIG. 9 , the safety device 100 includes a trigger device 60. For example, the trigger device 60 is housed in a housing (not shown) or the like and mounted on the aircraft 30. The trigger device 60 includes a control unit 61, a determination unit 62, a memory unit 63, and an alarm unit 64. The control unit 61 includes a CPU, a ROM, a RAM, and the like. The determination unit 62 determines whether the aircraft 30 is in an abnormal state based on a signal received from a detection unit 70 that detects the status of the aircraft 30 (failure, loss of control, flight status (flight attitude, speed, angular velocity, altitude, attitude angle, etc.), distance to an obstacle, position information, etc.). The trigger device 60 uses the CPU to execute various programs (a signal transmission program, a signal reception program, etc.) to automatically transmit command signals, activation signals, etc. to each component depending on the situation (for example, when the aircraft 30 is in an abnormal state (at the time of an abnormality)), or receives command signals, etc. from an external device via a communication unit 71 and transmits command signals, activation signals, etc. to each component. For example, it has the function of executing various programs using the CPU to send an automatic start-up signal to the actuator 1 to automatically start the actuator 1 when the flying object 30 is in an abnormal state, and of executing various programs using the CPU to send a start-up signal to the actuator 1 to start the actuator 1 when a trigger signal is received from a remote signal transmitter / receiver operated by an operator.

[0063] Here, examples of the detection unit 70 include a signal receiving sensor, an acceleration sensor, a gyro sensor, a barometric pressure sensor, a GPS (Global Positioning System), a laser sensor, an ultrasonic sensor, an infrared sensor, a millimeter wave radar, a submillimeter wave radar, a speed sensor, a monocular or compound eye vision sensor, an energy amount sensor, and a wind direction detection sensor, and the like, and the detection unit 70 includes at least one of these. Other examples of the detection unit 70 may include a unit that detects that an emergency signal has been transmitted from an emergency signal transmitting device in response to an operation by an operator, a unit that detects a malfunction of equipment provided on the flying object 30, etc.

[0064] Furthermore, the above-mentioned "abnormal state" refers to a case where the determination unit 62 determines that the flying object 30 is in an abnormal state (such as malfunction, inoperability, or an abnormal fall) based on a signal from the above-mentioned detection unit 70 provided in the flying object 30 or the safety device 100. Specifically, the determination unit 62 determines that "a signal has been lost for a certain period of time or more from the control unit of the flying object 30 or an abnormal signal has been received from the control unit of the flying object 30," "a signal has been lost for a certain period of time or more from the remote signal transmitter / receiver or an abnormal signal has been received from the remote signal transmitter / receiver," "a signal has been lost for a certain period of time or more from the ground station (including a relay station) when there is communication with the ground station," "the flying object 30 is approaching or entering a prohibited area or has deviated from the planned route based on the position information of the flying object 30," "the remaining amount of power (battery) or fuel of the flying object 30 is below a specified value," or "the acceleration of the flying object 30 is below a specified value or above a specified value." "," the angular velocity of the flying object 30 is equal to or greater than a specified value,"," the attitude angle of the flying object 30 is equal to or greater than a specified value (for example, tilted 45° or more from the horizontal),"," the flying object 30 is approaching an obstacle that may cause damage to the flying object 30 (detected by a laser sensor (such as LiDAR) or an infrared sensor, or by a vision sensor and image analysis),"," if the flying object 30 is one that can accommodate humans, an emergency situation has occurred for a person inside the flying object 30 (detected by an emergency signal being transmitted from an emergency signal transmitter)," or "a fatal malfunction of equipment installed on the flying object 30."

[0065] The control unit 61 is an example of an activation unit that activates the actuator 1 when the flying object 30 is determined to be in an abnormal state or when an instruction to activate the actuator 1 is received from the operator of the flying object 30. As described above, the control unit 61 activates the actuator 1 by sending a signal to the actuator 1 to activate the actuator 1. Specifically, the control unit 61 activates the gas generator 17 by sending a signal to the gas generator 17 to activate the gas generator 17.

[0066] The control unit 61 is an example of a stopping unit that stops one or more propulsion mechanisms 32 when the determination unit 62 determines that the aircraft 30 is in an abnormal state. For example, the control unit 61 stops one or more propulsion mechanisms 32 by transmitting a signal to stop one or more propulsion mechanisms 32 via the communication unit 71 to a control unit of the aircraft 30 that controls the one or more propulsion mechanisms 32. Specifically, the control unit 61 stops one or more propulsion mechanisms 32 by, for example, "shutting off the signal between the ESC and the FC or exclusively using a zero throttle signal," "shutting off the signal between the ESC and the motor or exclusively using a zero throttle signal," "sending a motor stop request to the FC," "sending a motor stop request to the companion computer," "sending a motor signal or current cut-off request to the PMU," "shutting off the power supply between the ESC and the motor," "shutting off the power supply between the ESC and the PMU," "shutting off the power supply between the FC and the battery," "shutting off the power supply between the PMU and the battery," or the like.

[0067] The determination unit 62 determines whether the aircraft 30 is in an abnormal state. As described above, for example, the determination unit 62 determines whether the aircraft 30 is in an abnormal state based on a signal received from the detection unit 70, which detects the state of the aircraft 30 (failure, inoperability, flight state (flight attitude, speed, angular velocity, altitude, attitude angle, etc.), distance to an obstacle, position information, etc.). Specifically, for example, the determination unit 62 determines that the aircraft 30 is in an abnormal state if the aircraft 30 is in a malfunction or in an uncontrollable state. Furthermore, the determination unit 62 determines that the aircraft 30 is in an abnormal state if the flight attitude, speed, angular velocity, altitude, attitude angle, etc. are above or below a threshold. Furthermore, the determination unit 62 determines that the aircraft 30 is in an abnormal state if the distance to an obstacle is below a threshold. Furthermore, the determination unit 62 determines that the aircraft 30 is in an abnormal state if the aircraft 30 is located outside a predetermined range. For example, the determination unit 62 includes a CPU, a ROM, a RAM, etc.

[0068] When the determination unit 62 determines that the flying object 30 is in an abnormal state, the storage unit 63 stores the determination data at that time. For example, the determination data includes the type of abnormality, the time when the abnormality was determined, etc. For example, the storage unit 63 has a ROM, a RAM, etc.

[0069] When the determination unit 62 determines that the flying object 30 is in an abnormal state, the notification unit 64 notifies the flying object 30 that it is in an abnormal state by at least one of sound and light. For example, the notification unit 64 includes a speaker that emits a sound such as an alarm. The notification unit 64 also includes an LED that emits light such as a warning light.

[0070] In the above configuration, when a flying object 30 or the like equipped with the safety device 100 falls, the gas generator 17 receives a signal from the control unit 61 and activates. The gas pressure generated by the activation propels the piston member 10 upward within the cylinder 14 from the initial state shown in FIG. 1 . This causes the moving body 40 connected to the rod-shaped portion 10b of the piston member 10 to propel (project) upward within the container 18. At this time, because the gap 80 is formed, the speed of the piston member 10 during activation is increased compared to when the gap 80 is not present. As a result, the maximum velocity of the moving body 40 during launch during activation is increased compared to when the gap 80 is not present. This causes the lid portion 21 to come off more forcefully than when the gap 80 is not present, opening the open end of the container 18 and ejecting the deployable body 16 pulled out by the ejected moving body 40 from the container 18 outward (upward in the plane of FIG. 1 ). Next, the piston member 10 and the tubular member 4 move upward, but the tubular member 4 collides with the stopper member 23 and stops. If the deployable body 16 is a parachute or paraglider, the deployable body 16 is deployed after being ejected from the container 18. After pulling out the deployable body 16, the moving body 40 does not immediately rotate (flip) to change direction, but does not rotate (flip) until it stalls to a predetermined speed after demonstrating its ideal performance. Specifically, the connection position of the moving body 40 with the forks 50a, 50b of the connecting cord 50 is positioned opposite the deployable body 16 during deployment, so that when the deployable body 16 is being pulled out, the forks 50a, 50b connected to the connecting cord through-hole 47 (and thus the entire connecting cord 50 in a taut state) prevent the moving body from rotating (flip).

[0071] Example 1 Here, a safety device 101 (a safety device according to a comparative example) having the configuration shown in FIG. 10 and an experimental safety device (a safety device according to Example 1) similar to the safety device 100 shown in FIG. 1 without the lid were manufactured, and an experiment was conducted to determine whether a moving body (a substantially cylindrical member having a bottom) launched after activation of each device would rotate (reverse). In this comparative example, components that are assigned the same reference numerals as those in the above embodiment are similar, and therefore their explanations will be omitted. Furthermore, components that are not particularly explained are similar to the safety device 100 of the above embodiment, and therefore their explanations may be omitted.

[0072] The safety device 101 differs from the safety device of Example 1 mainly in that (1) there is one connecting rope through hole 46A in the moving body 40A, which is formed approximately horizontally in the reduced portion 42A of the moving body 40A, and (2) a connecting rope 50A is attached to the connecting rope through hole 46A.

[0073] The movable body 40A is an approximately cylindrical member having a bottom, and is made of metal (aluminum, iron, or the like, or an alloy), resin, or a composite material of resin and metal, CFRP, fiber-reinforced resin, etc., and has a tubular portion 41A arranged to cover a part of the cylinder 14, i.e., the outer part of the upper end of the cylinder 14, and a contracting portion 42A formed in a shape that gradually contracts in the opposite direction (upward on the paper in Figure 10) from the connection part with the tubular portion 41A.

[0074] In addition, the movable body 40A has a hole 43A formed inside the tubular portion 41A, a hole 44A formed in the center of the bottom of the hole 43A, and a through hole 46A for a connecting cord formed along the horizontal direction (left-right direction on the paper in Figure 10) at the top of the reduced portion 42A.

[0075] A connecting rope 50A, one end of which is connected to the top of the deployable body 16 (here, a parachute), is connected to the connecting rope through-hole 46A. A loop portion 50A1 formed at the other end of the connecting rope 50A partially passes through the connecting rope through-hole 46A, and the other end of the connecting rope 50A is connected to the moving body 40A.

[0076] As a result of conducting experiments on the safety device 101 (a safety device according to a comparative example) and the safety device according to Example 1, it was found that in the case of the safety device 101, the moving body reverses direction when the deployable body is pulled out. In contrast, in the case of the safety device according to Example 1, the direction of the moving body does not change when the deployable body is pulled out. In other words, in the case of the safety device according to the example, the moving body does not rotate (reverse) to change direction as quickly as in the case of the safety device 101.

[0077] Therefore, according to the above embodiment and Example 1, the moving body 40 that has pulled out the deployable body 16 does not immediately rotate (flip) to change direction, and does not rotate (flip) until it stalls to a predetermined speed after demonstrating the ideal performance of the moving body 40. This makes it possible to provide a safety device 100 that enables the moving body 40 to demonstrate ideal performance, and an aircraft 30 equipped with the safety device 100.

[0078] Example 2 An experimental safety device (a safety device according to Example 2) similar to the safety device 100 shown in FIG. 1 was fabricated, and a measurement experiment was conducted to examine how the moving speed of the moving object during operation changes with changes in the value of the predetermined gap distance described above. In this measurement experiment, the speed of the moving object was measured using the tracking function of a high-speed camera, and Measurements 1 to 5 were obtained. Furthermore, an approximation curve (see the dotted line and formula in the graph in FIG. 11) was created using the approximation curve function (polynomial approximation) of spreadsheet software Microsoft Excel (Microsoft Corporation) from the values ​​obtained in the measurement experiment (Measurements 1 to 5 in Table 1). The "gap-to-stroke ratio" and "maximum moving object speed" were calculated in 1-mm increments for gaps from 0 mm to 26 mm (excluding 0 mm, 1 mm, 3 mm, 5 mm, and 15 mm) (the "calculated values" in Table 1 are the estimated values). Here, the stroke refers to the sliding distance of the piston member during operation. In addition, for the "Maximum speed (%)" in Table 1, the ratio of the maximum speed of the moving object at other gaps (maximum speed at each gap / maximum speed at a 1mm gap) is also shown, with a gap of 1mm being set at 100.

[0079] [Table 1]

[0080] The results of measurement value 1 in Table 1 show the case where the gap distance corresponding to gap 80 in the above embodiment is 0. In contrast, as shown in Table 1, it was found that when the gap distance is 1 mm to 11 mm, the maximum speed of the moving body is greater than that in measurement value 1. Therefore, it was found that it is preferable to set the gap distance corresponding to gap 80 in the above embodiment to 1 mm to 11 mm. Furthermore, even if the size of each part, the output of the explosive, etc., changes, the present invention is considered applicable to any actuator and safety device as long as the gap is formed at the "gap / stroke" ratio in Table 1 (preferably 1.59% to 17.46%).

[0081] Although the embodiments of the present invention have been described above with reference to the drawings, the specific configuration is not limited to these embodiments. The scope of the present invention is indicated by the claims rather than the description of the above-mentioned embodiments, and further includes all modifications equivalent to the meaning and scope of the claims. In addition, the embodiments and variations of the present invention may be combined as appropriate. Note that in the following variations, reference numerals with the same last two digits as the above-mentioned embodiments are similar, and therefore their explanation may be omitted. Furthermore, parts not specifically described are similar to the safety devices and aircraft of the above-mentioned embodiments, and therefore their explanation may be omitted.

[0082] For example, by making the connection position between the moving body and one end of the connecting rope at least include a position facing the deployable body when deployed (for example, in the case of the above-mentioned moving body 40, the flat portion on the actuator 1 side), when the deployable body is being pulled out, at least a portion of the connecting rope inserted into the through-hole for the connecting rope (and by extension the entire connecting rope in a taut state) makes it difficult for the moving body to rotate (flip), thereby making it possible to ensure a stable and ideal flight posture for the moving body that is propelled out when activated.

[0083] Furthermore, the connection between the moving body and the connecting cord is not limited to the case where two connecting cord through holes 46, 47 are formed as in the above embodiment. For example, two or more connecting cord through holes may be formed symmetrically about the central axis of the moving body from a position facing the deployable body when deployed on the moving body (for example, in the case of the moving body 40, the flat surface on the actuator 1 side) to an outer surface of the moving body (for example, the side (see FIG. 12(a)) or the head (see FIG. 12(b))). In this case, the connecting cords (not shown) may be tied one by one to each connecting cord through hole, as in the above embodiment.

[0084] Furthermore, if a single connecting cable is split into multiple symmetrical parts of equal length from midway to one end, the connection position of one end of the connecting cable to the moving body may be, for example, only on the side of the moving body (see FIG. 13(a)) or only on the bottom (see FIG. 13(b)), or may be symmetrically connected at two or more points on the parachute side of the moving body's center of gravity with respect to the moving body's central axis. This allows the flying posture of the moving body that is popped out during activation to be stable and ideal. The method of connecting one end of the connecting cable to each moving body may be by adhesive or by attaching a fixing hook to the moving body.

[0085] In the above embodiment, the connecting line 50 splits into two equal-length symmetrical branches midway through one end. However, for example, it may be a single line extending from the other end connected to the top of the parachute to one end, splitting into three or more equal-length branches midway through one end. In this case, the number of connecting line through-holes in the moving body may be the same as the number of branches at one end of the connecting line, and the ends of the branched portions may be connected to each connecting line through-hole symmetrically about the central axis of the moving body. For example, if the connecting line splits into three branches, the connecting line through-holes in the moving body may be symmetrically arranged at 120° intervals about the central axis of the moving body, and the ends of the branched portions may be connected to each connecting line through-hole.

[0086] Furthermore, two or more connecting lines of the same length may be used instead of the connecting line 50 of the above embodiment. Specifically, one end of each of the two or more connecting lines of the same length may be connected to the top of the parachute, and the other end of each of the two or more connecting lines of the same length may be connected to the connecting line through-holes of the moving body.

[0087] A modification of the above embodiment is a safety device 500 shown in Figure 14. The safety device 500 will be described below, but parts with the same reference numerals as those in the above embodiment are similar and therefore will not be described again. Furthermore, parts that are not particularly described are similar to the safety device 100 of the above embodiment and therefore will not be described again. For ease of explanation, the connecting rope is not shown in Figure 14.

[0088] Safety device 500 differs from safety device 100 of the above embodiment mainly in that (1) step portion 541a provided at the bottom of movable body 540 is also used as a lid portion that fits into the opening at the upper end of container 518, (2) the height of peripheral wall portion 518a of container 518 is lower than the top of cylinder 14, and (3) a pair of concave-shaped cutout portions (not shown) formed downward from the opening at the upper end of peripheral wall portion 518a of container 518 are provided so as to face each other in the radial direction of container 518. Note that the above-mentioned concave-shaped cutout portions (not shown) are provided to prevent annular portions similar to annular portions 50a1 and 50b1 shown in FIG. 7 from being sandwiched between movable body 540 and the opening at the upper end of container 518, preventing step portion 541a provided at the bottom of movable body 540 from failing to fit into the opening at the upper end of container 518. Therefore, it is necessary to fit movable body 540 into the opening at the upper end of container 518 so that connecting line through holes 546, 547 correspond in position to a pair of recessed cutout portions (not shown). Also, safety device 500 is formed with gap 580 similar to gap 80 in the above embodiment.

[0089] Such a safety device 500 can not only achieve the same effects as the safety device 100, but also has the function of the lid portion in the movable body 540, thereby reducing the number of parts compared to the safety device 100.

[0090] A safety device 600 shown in FIG. 15 is a modification of the above embodiment. This safety device 600 is the safety device 100 of FIG. 1 with the cover 21 removed. That is, the safety device 600 can also be used in the state shown in FIG. 15. In the safety device 600, components with the same reference numerals as those in the above embodiment are similar, and therefore their description will be omitted. In addition, components that are not particularly described are similar to the safety device 100 of the above embodiment, and therefore their description will be omitted. In addition, for ease of description, the connecting rope is not shown in FIG. 15. This type of safety device 600 can also achieve the same effects as the safety device 100.

[0091] A modification of the above embodiment is a safety device 700 shown in Figure 16. The safety device 700 will be described below, but parts with the same reference numerals as those in the above embodiment are similar and therefore will not be described again. Furthermore, parts that are not particularly described are similar to the safety device 100 of the above embodiment and therefore will not be described again. For ease of explanation, the connecting rope is not shown in Figure 16.

[0092] The safety device 700 differs from the safety device 100 of the above embodiment mainly in that (1) it uses a container having a bottomed cylindrical storage lid 618 having an approximately disk-shaped top plate portion 618a and a cylindrical side portion 618b, a cylindrical protrusion 621a extending from the edge toward the storage lid 618, and a receiving member 621b arranged opposite to the protrusion 621a and protruding toward the storage lid 618 at a position sandwiching the open end of the storage lid 618, and an approximately disk-shaped bottom portion 621 that closes the open end of the storage lid 618, (2) a gap 680 of a predetermined distance is provided between the inner surface of the storage lid 618 and the piston member 10, and (3) the storage lid 618 and the deployable body 16 are connected by a connecting rope (not shown), so that if the storage lid 618 is blown off by the actuator 1 during operation, the deployed body 16 is pulled out by the blown storage lid 618. The predetermined distance in the gap 680 may be the same as the gap 80 in the above embodiment.

[0093] Such a safety device 700 can achieve the same effect as that achieved by the gap 80 in the safety device 100. That is, because the gap 680 is formed, the speed of the piston member 10 during activation is increased compared to when the gap 680 is not present. As a result, the maximum speed of the storage lid 618 (moving body) during launch during activation is increased compared to when the gap 680 is not present. This causes the storage lid 618 to fly off with more force than when the gap 680 is not present.

[0094] A modification of the above embodiment is a safety device 800 shown in Figure 17. The safety device 800 will be described below, but parts with the same reference numerals as those in the above embodiment are similar and therefore will not be described again. Furthermore, parts that are not particularly described are similar to the safety device 100 of the above embodiment and therefore will not be described again. For ease of explanation, the connecting rope is not shown in Figure 17.

[0095] Safety device 800 differs from safety device 100 of the above embodiment mainly in that (1) it uses a push-up member 715 that is pushed up in one direction (upward in FIG. 17) by actuator 1, and (2) when activated, deployable body 16 is pushed up while being supported by push-up member 715. The predetermined distance in gap 780 may also be the same as gap 80 of the above embodiment.

[0096] Here, the push-up member 715 has a bottomed tubular portion 719 that is arranged to cover a part of the cylinder 14, i.e., the outer part of the cylinder 14 except for the vicinity of the open end on the side where the gas generator 17 is arranged, and a disk-shaped support portion 720 that is provided as a flange (brim-shaped portion) at the opening of the bottomed tubular portion 719 and supports the deployed body 16.

[0097] The bottomed tubular portion 719 has a bottom 719a that is generally plate-shaped or generally columnar (in this embodiment, generally columnar), a hole 751 formed on the lid portion 21 side of the bottom 719a, a hole 752 (second hole) that has a smaller diameter than the hole 751, and a hole 753 (first hole) that communicates with the hole 751 via the hole 752 and has a larger diameter than the hole 752. The hole 751 has a larger diameter than the diameter of the head portion 750a of the bolt member 750. The hole 752 has a smaller diameter than the head portion 750a, and can guide the male thread portion 750b of the bolt member 750 inserted from the hole 751 side toward the hole 753 side. The hole portion 753 has approximately the same shape as one end (upper end) of the rod-shaped portion 10b, and becomes a fitting portion into which one end of the rod-shaped portion 10b fits by inserting one end of the rod-shaped portion 10b through an insertion opening 753a provided on the cylinder 14 side of the bottom 19a of the bottomed tubular portion 719.

[0098] Bolt member 750 has male thread portion 750b inserted into hole portion 752 from the hole portion 751 side and threaded into hole portion 10d (internal threads are cut) of rod-shaped portion 10b fitted into hole portion 753, thereby connecting rod-shaped portion 10b and push-up member 715. At this time, one end of rod-shaped portion 10b is non-circular and fits into hole portion 753 of approximately the same shape, so that rod-shaped portion 10b does not rotate together when bolt member 750 is threaded into hole portion 10d. Specifically, because the tip ends of push-up member 715 and piston member 10 are non-circular and fit together, when fastening with bolt member 750, push-up member 715 can be rotated while being fixed, and piston member 10 tightens toward gas generator 17, allowing for tightening without co-rotating.

[0099] In the initial state, the support part 720 is spaced apart from the inner bottom surface of the container 18. The support part 720 also has an air vent 726 for reducing the effect of negative pressure generated between the bottom of the deployable body 16 and the support part 720 during operation, thereby making it easier to eject the deployable body 16. The outer periphery of the support part 720 is formed so as not to come into contact with the inside of the container 18. The upper surface of the support part 720 is also provided with at least one (eight in this embodiment) movement prevention member 727 for preventing the deployable body 16 from moving in the circumferential direction of the bottomed tubular part 719.

[0100] Movement prevention members 727 are generally triangular members, and a plurality of them are provided rotationally symmetrically around bottomed tubular portion 719. Furthermore, vent holes 726 are provided between each of these movement prevention members 727. Here, as a modified example, only one movement prevention member 727 may be provided. Even in this case, a plurality of vent holes 726 are provided in support portion 720.

[0101] Such safety device 800 can achieve the same effect as that achieved by gap 80 in safety device 100. That is, because gap 780 is formed, the speed of piston member 10 and push-up member 715 during operation is increased compared to when gap 780 is not present. As a result, lid portion 21 (moving body) is removed with greater force than when gap 780 is not present, and lid portion 21 can be more effectively prevented from interfering with the launch of deployable body 16.

[0102] Furthermore, for example, if the object to be deployed is a pilot chute, a larger parachute, steering parachute, paraglider, etc. may be connected to the pilot chute, and the parachute, steering parachute, paraglider, etc. may be stored in the same or a different container. In this way, the pilot chute can be pulled out by the moving body, and the parachute, steering parachute, paraglider, etc. can be pulled out and deployed from the same or a different container.

[0103] Furthermore, in each of the above embodiments, a portion of the base is configured to be located outside the container, but the entire base may also be configured to be located inside the container.

[0104] Furthermore, while a gas generator is used as the power source in each of the above embodiments, the configuration is not limited as long as it is capable of applying a driving force to the sliding member to propel the sliding member through the cylinder. For example, an elastic body type using an elastic body such as a spring, a gas cylinder type using the pressure of gas trapped in a container, or a chemical reaction type (non-explosive) in which two or more substances are mixed and a chemical reaction occurs to generate gas pressure may be used as the driving source. Furthermore, instead of the ejection devices in the above embodiments and modified examples, a retractable (also called a pulling) ejection device may be used. An example of such an ejection device is a system in which a rocket is launched and a parachute is pulled out.

[0105] Furthermore, in each of the above embodiments, when a parachute or a paraglider is used as the object to be deployed, the parachute or the paraglider may be packed. Note that the packing is configured to tear or peel off when activated.

[0106] Furthermore, while the above embodiments have described a parachute or paraglider as the deployable object, the deployable object may also include a lift-generating member. Examples of the lift-generating member include a parafoil, a Rogallo parachute, a single-surface parachute, an airplane wing, a propeller, and a balloon. Furthermore, if the lift-generating member has a control line, the safety device preferably includes a steering mechanism that can use the control line to change the inclination angle of the deployed lift-generating member. This steering mechanism may include, for example, multiple reels that reel in the control lines connected to the lift-generating member, and a motor that powers the reels. The motor can be driven to reel in or release the control lines, thereby tensioning or loosening the lift-generating member as needed.

[0107] Alternatively, the flying object may be equipped with a safety device that can launch a net instead of a parachute or paraglider. This allows the flying object to be hooked onto a hook or protrusion by timing the launch of the net toward the hook or protrusion. As a result, the flying object can be prevented from falling and crashing to the ground. Alternatively, medicines, luggage, etc. may be launched instead of a parachute or paraglider.

[0108] The flying object may also be equipped with a safety device that can launch a deflated or folded float together with a drive mechanism (such as an inflation device including a gas generator) by an actuator, and then inflate and deploy the float using the drive mechanism. This can prevent the flying object from sinking and can serve as a marker for a recovery location in the event that the flying object crashes.

[0109] The aircraft may also be equipped with a safety device that can launch a deflated or folded float and parachute together with a drive mechanism (such as an inflation device including a gas generator) by an actuator, and deploy the float and parachute by the drive mechanism. This reduces the falling speed of the aircraft when it crashes, prevents the aircraft from sinking, and can serve as a marker for the recovery location when the aircraft crashes.

[0110] Alternatively, the parachute may be launched by an actuator together with a drive mechanism (such as a cutting device with a drive unit), and after the parachute has deployed, the drive mechanism may cut some of the multiple connecting members connecting the parachute to the aircraft, shifting the central axis of the aircraft's body and causing it to fall sideways, and the aircraft may then be equipped with a safety device that can mitigate the impact of impact with the ground or the like using an airbag device installed on the side of the aircraft that is falling.

[0111] Alternatively, the flying object may be equipped with a safety device that uses an actuator to launch a so-called paramotor together with a drive mechanism (including a drive unit such as a power source), and after the parachute or paraglider is fully deployed, the drive mechanism can drive the motor to rotate the propeller. This prevents the parachute or paraglider from becoming entangled in the propeller. A paramotor is a device that is capable of flying by obtaining thrust from a power source (such as a motor-driven propeller rotation device) attached to the harness of the parachute or paraglider.

[0112] In addition, the aircraft may be equipped with a safety device that can launch a sound generating device together with a drive mechanism (including a drive unit such as a power supply) using an actuator, and activate the sound generating device using the drive mechanism when the aircraft crashes, thereby alerting those around it to danger.

[0113] In addition, the aircraft may be equipped with a safety device that uses an actuator to launch a lighting device (such as a flashlight) together with a drive mechanism (including a drive unit such as a power source), and that activates the lighting device via the drive mechanism when the aircraft crashes, thereby alerting those around it to danger.

[0114] In addition, the aircraft may be equipped with a safety device that can launch a fire extinguisher together with a drive mechanism (including a drive unit such as a power source) using an actuator, and activate the fire extinguisher using the drive mechanism when the aircraft crashes, thereby spraying a fire extinguishing agent onto the aircraft body and surrounding area.

[0115] The flying vehicle may also be equipped with a safety device that uses an actuator to launch a pre-launched payload (such as an expensive device) with a parachute together with a drive mechanism, and deploys the parachute of the payload with a parachute using the drive mechanism, thereby providing focused protection for the payload with a parachute.

[0116] The flying vehicle may also be equipped with a safety device that uses an actuator to eject a previously ejectable payload (such as an expensive device) equipped with an airbag device together with a drive mechanism (such as an inflation device including a gas generator), and then inflates and deploys the airbag of the payload with the airbag device using the drive mechanism. This allows for focused protection of the payload with the airbag device.

[0117] The aircraft may also be equipped with a safety device that can launch a distress signal transmitter together with a drive mechanism (including a drive unit such as a power source) by an actuator, and activate the distress signal transmitter by the drive mechanism when the aircraft crashes, thereby enabling the location of the crash to be identified.

[0118] The flying vehicle may also be equipped with a safety device that uses an actuator to launch a black box with a parachute (such as a flight recorder) together with a drive mechanism (such as an inflation device including a gas generator), and that uses the drive mechanism to deploy the parachute of the black box with a parachute when the flying vehicle crashes. This allows for the primary protection of the black box with a parachute, and as a result, flight data can be protected. [Explanation of symbols]

[0119] 1 actuator 2 bases 2A, 3 Cylindrical member 2B flange 2a, 13, 22c, 24, 25, 29 holes 2b Fixing hole 2c Insertion port 4 Tubular members 5. Retaining member 6 Space 10 Piston member 10a, 22a Main body 10b Rod-shaped part 10c, 10d, 43, 43A, 44, 44A, 543, 544, 751, 752, 753 Hole 10e, 23a, 23b, 48, 48A, 548 Groove 11, 12, 49, 49A, 549 Seal material 14 cylinders 14a, 45, 545 through hole 16 Object to be developed 16a Top 17 Gas Generator 17a Cup Body 17b Electrode 18,518 container 18a, 518a Peripheral wall part 18b, 518b, 621, 719a bottom 21 Lid 22, 53 connector 22b Protrusion 23 Stopper member 28 volts 30 Flying Objects 31 aircraft 32 Propulsion mechanism 33 Legs 34 Arm section 40, 40A, 540 Mobile 41, 41A, 541 Cylindrical part 42, 42A, 542 Reduction section 46, 46A, 47, 146, 147, 246, 247, 546, 547 Through hole for connecting cable 50, 50A connecting cable 50a, 50b bifurcated 50a1, 50b1, 50A1 Annular part 52 Wiring 60 Trigger Device 61 Control Unit 62 Judgment section 63 Memory section 64 Information Department 70 Detection unit 71 Communications Department 80, 580, 680, 780 gap 100, 101, 500, 600, 700, 800 Safety device 541a Step 618 Storage lid 618a Top plate 618b Side 621a Protrusion 621b Receiving member 715 Push-up member 719 Bottomed cylindrical part 720 Support part 726 Ventilation hole 727 Anti-movement member 750 bolt components 750a head 750b male thread 753a Insertion opening

Claims

1. An actuator having a cylindrical cylinder and a sliding member that can slide along an inner wall of the cylinder when actuated, and that moves a moving body by pressing a predetermined part of the moving body with a tip end of the sliding member that slides when actuated, the movable body is provided so as to face, in an initial state, a tip end portion of the actuator that is positioned in a direction in which the sliding member slides during operation, An actuator comprising: a gap forming mechanism that forms a gap of a predetermined distance between the predetermined location of the moving body and the tip of the sliding member in an initial state.

2. 2. The actuator according to claim 1, wherein the predetermined distance is 1 mm to 11 mm.

3. 2. The actuator according to claim 1, wherein a ratio of the predetermined distance to the sliding distance of the sliding member during operation is 1.59% to 17.46%.

4. the cylinder has a drive source at one end, accommodates the sliding member on the side opposite to the drive source, and guides the sliding member to protrude toward the other end when the drive source is actuated; the movable body is a bottomed tubular member having a tubular portion at least in a portion thereof including a bottom portion which is the predetermined location, the gap forming mechanism is formed by attaching an O-ring provided along the inner wall of the movable body to the outer wall of the cylinder in a state where the O-ring abuts against the outer wall of the cylinder and forms a gap of the predetermined distance, or by inserting the outer wall of the cylinder at the end opposite to the driving source into the inner wall of the movable body and attaching the cylinder in a state where the gap of the predetermined distance is formed, 2. The actuator according to claim 1, wherein in an initial state, the tip of the sliding member is disposed inside the moving body so that the tip of the sliding member pushes the moving body from the bottom side of the moving body during operation.

5. 5. The actuator according to claim 4, wherein a portion of the moving body opposite to the actuator side is formed in a shape that gradually narrows compared to a portion of the moving body on the actuator side.

6. The container further includes an opening and a bottom portion opposite the opening, the cylinder has a drive source at one end, houses the sliding member on the side opposite to the drive source, and is attached to the bottom of the container so as to guide the sliding member to protrude toward the other end when the drive source is activated; the movable body is a lid portion removably provided on the opening of the container, the gap forming mechanism is configured by attaching the lid to the opening of the container in a state where the gap of the predetermined distance is formed, 2. The actuator according to claim 1, wherein the tip of the sliding member is disposed in a position facing the lid portion so that, when actuated, the tip of the sliding member pushes the lid portion from inside the lid portion to remove it from the opening.

7. a container having an opening; a deployable body stored in the container; An actuator according to any one of claims 1 to 6; A safety device comprising:

8. the movable body is connected to the deployable body via a first connecting rope, the first connecting rope is a plurality of ropes, or a single connecting rope having one end split into a plurality of ropes, and when the first connecting rope is in a tensioned state during operation, the ropes are connected to the movable body in symmetrical positions with respect to the central axis of the movable body; 8. The safety device according to claim 7, wherein the connection position of the movable body with one end of the first connecting rope is one of the following (a) to (c). (a) A position where two or more through holes are formed symmetrically with respect to the central axis of the moving body from a position facing the deployable body when deployed to the outer surface of the moving body. (b) At least two locations on the sides of the moving body, at positions symmetrical with respect to the central axis of the moving body and closer to the actuator than the center of gravity of the moving body. (c) At least two locations on the moving body that face the deployable body when deployed, and that are symmetrical with respect to the central axis of the moving body.

9. a vehicle mountable to the vehicle, the vehicle having a body and one or more propulsion mechanisms coupled to the body and propelling the body, The safety device described in claim 7, characterized in that it is provided with a trigger device having a starting unit that starts the actuator when the aircraft is determined to be in an abnormal state or when an instruction to start the actuator is received from the operator of the aircraft.

10. The safety device described in claim 9, characterized in that the trigger device has a judgment unit that determines whether the aircraft is in an abnormal state or not, and a stop unit that stops the one or more propulsion mechanisms when the judgment unit determines that the aircraft is in an abnormal state.

11. 8. The safety device according to claim 7, wherein the deployable object is connected to the flying object via a second connecting rope.

12. the deployable object is a pilot chute, Further, the pilot chute is connected to another deployable body. The safety device according to claim 7, wherein the pilot chute and the other deployable object are stored in the container.

13. The aircraft and a safety device as claimed in claim 7 coupled to the airframe; one or more propulsion mechanisms coupled to the vehicle for propelling the vehicle; An aircraft characterized by comprising:

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