Link mechanism of flying robot and flying robot

Abstract

To stabilize the posture of a device to be mounted and to suppress variation in the position of the device to be mounted.SOLUTION: A link mechanism includes a mounting section configured for mounting a device, a first support shaft arranged on a base section in a first direction, a support section that is rotatably arranged by the first support shaft and supports the mounting section, a telescopic mechanism arranged on the base section and configured to expand and contract by a plurality of links, the telescopic mechanism having a mechanism configured to rotate the support section about the first support shaft by expanding and contracting through the plurality of links, and an actuator configured to generate driving force for the telescopic mechanism.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a link mechanism for a flying robot and a flying robot. [Background technology]

[0002] In recent years, unmanned aerial vehicles (UAVs) have been used for a variety of purposes, and their development has been active. Examples of UAVs include radio-controlled unmanned helicopters and so-called drones. It is known that a robot arm equipped with a work tool is attached to the drone, and the work tool is moved in the opposite phase in response to changes in the drone's attitude, thereby maintaining the attitude of the work tool (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-193331 Summary of the Invention [Problem to be solved by the invention]

[0004] Using a multi-degree-of-freedom robot arm or parallel link mechanism to stabilize the attitude of the work equipment increases the weight of the drone, which could result in reduced flight time and performance. While using a gimbal mechanism to stabilize the attitude of the work equipment is also an option, accurate position control is difficult because the center of the drone's attitude fluctuations is not aligned with the center of rotation of the gimbal mechanism.

[0005] The present invention has been made in consideration of the various circumstances described above, and its object is to stabilize the attitude of a device placed on the device and to suppress fluctuations in the position of the device placed on the device. [Means for solving the problem]

[0006] One aspect of the present invention is a link mechanism for a flying robot comprising: a mounting section configured to mount equipment; a first support shaft arranged in a first direction on a base section; a support section rotatably arranged by the first support shaft and supporting the mounting section; an extension and contraction mechanism arranged on the base section and extending and contracting by a plurality of links, the extension and contraction mechanism having a mechanism for rotating the support section around the first support shaft by extending and contracting by the plurality of links; and an actuator that generates power for the extension and contraction mechanism.

[0007] Another aspect of the present invention is a flying robot including the link mechanism of the flying robot described above.

[0008] Another aspect of the present invention is a flying robot comprising a mounting section configured to mount equipment, a first support shaft arranged in a first direction on a base section, and a support section arranged rotatably by the first support shaft and supporting the mounting section, wherein the first support shaft is arranged at the center of rotation when the flying robot tilts. [Effects of the Invention]

[0009] According to the present invention, it is possible to stabilize the attitude of the device placed on the table and to suppress fluctuations in the position of the device placed on the table. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing an example of a schematic configuration of a flying robot equipped with a link mechanism according to a first embodiment. FIG. [Figure 2] FIG. 2 is a diagram showing an example of a schematic configuration of the link mechanism according to the first embodiment when viewed from the front side in the Y-axis direction of the flying robot. [Figure 3] FIG. 2 is a diagram showing an example of a schematic configuration of the link mechanism according to the first embodiment when viewed from the right side in the X-axis direction of the flying robot. [Figure 4] FIG. 10 is a diagram showing the link mechanism when the flying robot according to the first embodiment is tilted at a pitch angle of 15 degrees, as viewed from the right side in the X-axis direction. [Figure 5] FIG. 10 is a diagram showing the link mechanism when the flying robot according to the first embodiment is tilted at a roll angle of 20 degrees, as viewed from the front side in the Y-axis direction. [Figure 6] FIG. 10 is a perspective view showing an example of the schematic configuration of a flying robot equipped with a link mechanism according to a second embodiment. [Figure 7] FIG. 11 is a perspective view showing an example of the schematic configuration of a flying robot equipped with a link mechanism according to a third embodiment. [Figure 8] FIG. 10 is a perspective view showing an example of the schematic configuration of a flying robot equipped with a link mechanism according to a fourth embodiment. [Figure 9] FIG. 10 is a diagram showing an example of a schematic configuration of a link mechanism according to a fourth embodiment when viewed from the front side in the Y-axis direction of the flying robot. [Figure 10] FIG. 10 is a diagram showing an example of a schematic configuration of a link mechanism according to a fourth embodiment when viewed from the right side in the X-axis direction of the flying robot. [Figure 11] FIG. 11 is a diagram showing the link mechanism of the flying robot according to the fourth embodiment when tilted at a roll angle of 15 degrees, as viewed from the front side in the Y-axis direction. [Figure 12] FIG. 11 is a diagram showing the link mechanism of the flying robot according to the fourth embodiment when tilted at a pitch angle of 20 degrees, as viewed from the right side in the X-axis direction. DETAILED DESCRIPTION OF THE INVENTION

[0011] The base part provided in the link mechanism of the flying robot, which is one aspect of the present invention, is a member that serves as the foundation of the link mechanism. A first support axis is arranged on this base part in a first direction. The first direction is, for example, a rotation axis such as the pitch axis or roll axis of the flying robot. The mounting part may be configured to be able to mount measuring equipment such as an end effector, sensor, or camera. The mounting part may also be, for example, a top plate for mounting measuring equipment. The mounting part is configured to be able to rotate together with the support part around the first support axis. As the mounting part rotates around the first support axis, the equipment mounted on the mounting part also rotates.

[0012] The telescopic mechanism included in the link mechanism is disposed on the base and extends and retracts via multiple links. For example, the distance and direction from one end of the link mechanism to the other end are changed by the telescopic mechanism. The telescopic mechanism may connect the base and the mounting portion. However, the telescopic mechanism is not limited to directly connecting the base and the mounting portion, and may also connect them indirectly. In the case of an indirect connection, the base and the mounting portion may be connected via the telescopic mechanism and another member. An actuator that generates power for the telescopic mechanism may be disposed on the base. This actuator is controlled, for example, by a control device.

[0013] The first support axis may be located at the center of rotation of the flying robot when it tilts. The axial direction of this center of rotation is the first direction. For example, the first support axis may be located so as to coincide with the pitch axis when the flying robot rotates in the pitch direction, or the roll axis when the flying robot rotates in the roll direction.

[0014] The telescopic mechanism has a mechanism for rotating the support part around the first support shaft. That is, the power generated by the actuator operates the telescopic mechanism, thereby generating a force for rotating the support part. Since the support part is supported by the first support shaft, The support part rotates around the first support axis. Furthermore, the mounting part supported by the support part also rotates around the first support axis. The telescopic mechanism may have a mechanism that ultimately rotates the support part. For example, the support part may be rotated by applying force to another member connected to the support part. Furthermore, the telescopic mechanism may rotate the support part by applying force to the mounting part.

[0015] Here, for example, by aligning the first support axis with the center of rotation when the flying robot tilts, the support unit and the mounting unit rotate around the center of rotation when the flying robot tilts. For example, when the flying robot tilts, tilting of the mounting unit can be prevented by rotating the mounting unit relatively in the opposite direction. Furthermore, by aligning the first support axis with the center of rotation of the flying robot, positional fluctuations caused by tilting of the flying robot can also be simultaneously prevented. At this time, the control device may control the actuator to prevent tilting of the mounting unit.

[0016] The telescopic mechanism may further include a second support shaft that supports the mounting portion and is arranged parallel to a second direction perpendicular to the first direction, and the telescopic mechanism may have a mechanism that rotates the mounting portion around the second support shaft. In this case, the mounting portion can be rotated around the first support shaft and the second support shaft, so that the tilt of the mounting portion can be corrected in two directions. Therefore, tilting of the mounting portion can be further suppressed.

[0017] The apparatus may further include a linear guide device that transmits the power generated by the actuator to the mount to rotate the mount about the second support shaft. By providing the linear guide device, the force and change in posture generated by the telescopic mechanism can be transmitted separately in two directions: one that rotates the support section and mount about the first support shaft, and the other that rotates the mount about the second support shaft, simplifying control of the rotation of the mount about the second support shaft. The linear guide device may be part of the telescopic mechanism or part of the mount.

[0018] Further, the telescopic mechanism includes a first telescopic mechanism and a second telescopic mechanism, the actuator includes a first actuator that generates power for the first telescopic mechanism and a second actuator that generates power for the second telescopic mechanism, the first actuator is disposed at one end of the first telescopic mechanism on the base portion side, the second actuator is disposed at one end of the second telescopic mechanism on the base portion side, the first telescopic mechanism and the second telescopic mechanism are disposed parallel to the second direction with the first support shaft therebetween, the linear guide device has a moving part that is guided on a track part, the other end of the first telescopic mechanism is disposed at one end of the moving part in the second direction The first telescopic mechanism may be rotatably supported at one end of the first telescopic mechanism and the other end of the second telescopic mechanism may be rotatably supported at the other end of the moving part in the second direction, the first telescopic mechanism may be configured to be able to change a first distance from one end to the other end of the first telescopic mechanism by operating the first actuator, the second telescopic mechanism may be configured to be able to change a second distance from the one end to the other end of the second telescopic mechanism by operating the second actuator, and the first telescopic mechanism and the second telescopic mechanism may be configured to rotate the moving part around the first support axis by individually changing the first distance and the second distance.

[0019] In addition, the first telescopic mechanism and the second telescopic mechanism may be configured to change the angle of the support part centered on the first support axis by extending one telescopic mechanism and shortening the other telescopic mechanism.

[0020] The first telescopic mechanism and the second telescopic mechanism can be operated independently. That is, the first telescopic mechanism can be operated by operating the first actuator, and the second telescopic mechanism can be operated by operating the second actuator. The first and second telescopic mechanisms are arranged parallel to the second direction across the first support shaft, allowing the weight of the telescopic mechanisms to be evenly distributed. This allows, for example, when the link mechanism is mounted on a flying robot, the center of gravity of the flying robot to be located near the center of the airframe. Furthermore, a control device and a battery, for example, can be placed in the space at the center of the flying robot between the first and second telescopic mechanisms. This also makes it easy to add the first and second telescopic mechanisms to a flying robot that already has a control device, battery, etc. located near the center. Furthermore, the first actuator is located at one end of the first telescopic mechanism on the base side. The second actuator is located at one end of the second telescopic mechanism on the base side. In other words, the first and second actuators are located close to the base. In this way, by placing relatively heavy actuators near the base, the overall center of gravity can be prevented from being located at a high position.

[0021] The linear guide device also includes a track section and a moving section. As the moving section moves along the track section, the mounting section rotates around the second support shaft. The moving section receives force from the first telescopic mechanism and the second telescopic mechanism and moves. A first distance from one end to the other end of the first telescopic mechanism and a second distance from one end to the other end of the second telescopic mechanism can be individually changed. The first distance may be the distance from the base section of the first telescopic mechanism to the moving section, and the second distance may be the distance from the base section of the second telescopic mechanism to the moving section. For example, by adjusting the first distance and the second distance, the position of the moving section on the track section can be adjusted. This allows the posture of the mounting section around the second support shaft to be changed.

[0022] The first and second telescopic mechanisms can also apply a force to the moving unit in a direction perpendicular to the direction in which the track unit is arranged. This can prevent the moving unit and the track unit from moving relative to each other. When the moving unit does not move relative to the track unit, power to rotate the mounting unit around the second support shaft is not transmitted to the mounting unit. This can prevent the mounting unit from rotating around the second support shaft. Furthermore, by applying a force to the moving unit in a direction perpendicular to the direction in which the track unit is arranged, a force to rotate the support unit around the first support shaft can be applied. This causes the mounting unit to rotate around the first support shaft. In this way, by operating the first actuator and the second actuator, the mounting unit can be rotated around the first support shaft or the second support shaft.

[0023] Furthermore, the first direction may be the direction of the pitch axis, the second direction may be the direction of the roll axis, the track portion may extend from the placement portion side of the support portion in a direction perpendicular to the first support axis, the moving portion may move while being guided on the track portion in accordance with the first distance and the second distance, and the telescopic mechanism may have a mechanism for rotating the placement portion around the second support axis in accordance with the moving portion being guided on the track portion.

[0024] In this way, for example, when a flying robot equipped with a link mechanism rotates in the pitch direction, tilting of the base can be prevented by reversing the rotation of the support unit in the pitch direction around the first support axis. In other words, even if the airframe rotates around the pitch axis when the flying robot moves forward or backward, the base can remain horizontal. Because the track extends from the base side of the support unit in a direction perpendicular to the first support axis, the moving unit can move in a direction perpendicular to the first support axis. When the moving unit moves in a direction perpendicular to the first support axis, the base rotates around the second support axis. This allows the base to rotate in the roll direction. The rotation angle of the base around the second support axis is determined according to the first distance and the second distance. In addition, the operation of the first telescopic mechanism and the second telescopic mechanism can be determined so that a force is applied to the moving unit in a direction perpendicular to the track. This allows the base to rotate around the first support axis. In addition, by adjusting the first distance and the second distance, The rotation angle of the mounting portion about the first support shaft and the rotation angle of the mounting portion about the second support shaft can be adjusted simultaneously.

[0025] The first direction is the direction of the roll axis, the second direction is the direction of the pitch axis, the track portion is arranged on the placement portion so as to be parallel to the first support axis in a predetermined state, the moving portion moves while being guided on the track portion according to the first distance and the second distance, and the telescopic mechanism may have a mechanism for rotating the placement portion around the second support axis according to the moving portion being guided on the track portion.

[0026] In this way, for example, when a flying robot equipped with a link mechanism rotates in the roll direction, tilting of the base unit can be prevented by reversing the support unit's rotation in the roll direction around the first support axis. In other words, when the flying robot moves left or right, even if the airframe rotates around the roll axis, the base unit can maintain a horizontal position. The track unit is arranged on the base unit so as to be parallel to the first support axis in a predetermined state, so the moving unit can move along the base unit. The predetermined state is a reference state, such as a state in which the base unit and the base unit are horizontal. As another example, the predetermined state may be a state in which a flying robot equipped with the base unit is hovering. In this case, the predetermined state is a state in which the flying robot is not tilted. When the base unit rotates around the second support axis, any misalignment between the base unit and the telescopic mechanism is absorbed by the moving unit moving along the base unit. This allows the base unit to rotate in the pitch direction. At this time, the track unit also rotates around the second support axis. Therefore, when the predetermined state is no longer met, the track unit is no longer parallel to the first support axis. The rotation angle of the mount unit around the second support shaft is determined according to the first distance and the second distance. Furthermore, the operation of the first telescopic mechanism and the second telescopic mechanism can be determined so that a force is applied to the moving unit in a direction perpendicular to the track unit. This allows the mount unit to rotate around the first support shaft. Furthermore, by adjusting the first distance and the second distance, the rotation angle of the mount unit around the first support shaft and the rotation angle of the mount unit around the second support shaft can be simultaneously adjusted.

[0027] The flying robot may also be equipped with the above-described link mechanism. This allows the link mechanism to be used at high altitudes. However, if the flying robot's center of gravity becomes high, its posture may become unstable. In contrast, if the flying robot is equipped with the above-described link mechanism, the flying robot's center of gravity can be prevented from becoming high, thereby preventing the flying robot's posture from becoming unstable.

[0028] The first support shaft may be positioned at the center of rotation of the flying robot when it tilts. This allows the center of rotation of the flying robot to coincide with the center of rotation of the mounting unit. Therefore, when the mounting unit is rotated in accordance with changes in the attitude of the flying robot to maintain the mounting unit horizontal, fluctuations in the relative positions of the mounting unit and the center of rotation of the flying robot can be suppressed.

[0029] The flying robot may also have a plurality of propulsion units that generate propulsion by driving the rotors, and the mounting section may be located above the rotors in the direction of gravity. Here, for example, when an end effector is attached to the mounting section and used to sense an object, the flying robot may be tilted forward to bring the end effector closer to the object. If the end effector comes into contact with the object at this time, the end effector will receive a reaction force from the object. If the end effector is located below the rotors, the reaction force from the object will act in a direction that causes the flying robot to tilt further forward. This will cause the flying robot to approach the object even closer. This may result in the rotors coming into contact with the object. On the other hand, if the end effector is located above the rotors, the reaction force from the object will act in a direction that causes the flying robot to return to a horizontal position. Therefore, it is possible to prevent the rotor from colliding with the object.

[0030] If the mounting unit is positioned lower than the main body, the end effector is pushed forward in the direction of travel when the flying robot's posture changes from a forward-leaning posture to a horizontal posture. On the other hand, if the mounting unit is positioned higher than the main body, the end effector moves in the opposite direction to the direction of travel when the flying robot's posture changes from a forward-leaning posture to a horizontal posture. Therefore, if the mounting unit is positioned lower than the main body, and the end effector comes into contact with an object while the flying robot is in a forward-leaning posture and the rotation of the support unit is delayed when the flying robot's posture changes to a horizontal posture, the end effector will be pushed toward the object. In this case, excessive force may be applied to the end effector. On the other hand, if the mounting unit is positioned higher than the main body, and the end effector comes into contact with an object while the flying robot is in a forward-leaning posture and the rotation of the support unit is delayed when the flying robot's posture changes to a horizontal posture, the end effector will be moved away from the object. In this case, excessive force is prevented from being applied to the end effector.

[0031] Regardless of whether the flying robot has the link mechanism or not, the first support axis may be positioned at the center of rotation when the flying robot tilts. In other words, when the flying robot tilts, it is sufficient if the tilt of the mounting unit can be prevented by rotating the mounting unit relatively in the opposite direction.

[0032] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, unless otherwise specified, the dimensions, materials, shapes, relative positions, etc. of the components described in the embodiments are not intended to limit the scope of the present invention. Furthermore, the following embodiments can be combined as much as possible.

[0033] First Embodiment 1 is a diagram showing an example of the schematic configuration of a flying robot 100 equipped with a link mechanism 1 according to the first embodiment. The link mechanism 1 according to the first embodiment has a mechanism that responds to changes in the roll angle and pitch angle.

[0034] The flying robot 100 includes a main body 110. The main body 110 has multiple propulsion units 111. In the example shown in FIG. 1, four propulsion units 111 are mounted on the main body 110; however, the number of propulsion units 111 is not limited to four, as long as the main body 110 can fly. Each propulsion unit 111 has a propeller 112, which is a rotor, and a flight actuator 113 for rotating the propeller. In each propulsion unit 111 mounted on the main body 110, the flight actuator 113 can be controlled independently. This makes it possible to appropriately control the propulsive force obtained by each propulsion unit 111, thereby enabling appropriate control of the flight attitude, flight speed, and the like of the main body 110 and the flying robot 100.

[0035] Here, the main body 110 has a body 114 roughly at its center, with the propulsion units 111 provided at the tip ends of bridges 115 that radiate from the body 114. The four propulsion units 111 are arranged at equal intervals on a circumference centered on the body 114. Note that legs that support the main body 110 during landing may be connected to the main body 110. Furthermore, the body 114 is equipped with batteries for supplying driving power to the flight actuators 113 of each propulsion unit 111.

[0036] In the following description, the direction of the propulsive force of the propulsion unit 111 when the flying robot 100 is stationary in the air, i.e., the direction toward the top of FIG. 1, is referred to as the upward direction in the vertical direction, and the direction opposite to the propulsive force, i.e., the direction toward the bottom of FIG. 1, is referred to as the downward direction in the vertical direction. , which is the same as the direction of gravity. In the following explanation, an XYZ Cartesian coordinate system is set, and the position of each component will be explained with reference to this XYZ Cartesian coordinate system. The up-down direction of the flying robot 100 is the Z-axis direction, the direction facing the front of the flying robot 100 is the Y-axis direction, and the direction perpendicular to the Y-axis and Z-axis directions is the X-axis direction. The front of the flying robot 100 is the lower left side in FIG. 1, and refers to the direction in which the flying robot 100 travels when flying towards an object. The X-axis direction is also the left-right direction of the flying robot 100. The XY plane is a horizontal plane. The right side when viewed from the front of the flying robot 100 is the right side in the X-axis direction, and the left side when viewed from the front of the flying robot 100 is the left side in the X-axis direction. The front side when viewed from the front of the flying robot 100 is the near side in the Y-axis direction, and the opposite side in the Y-axis direction is the far side.

[0037] The link mechanism 1 is disposed on the upper part of the body 114. FIG. 2 is a diagram showing an example of a schematic configuration of the link mechanism 1 according to the first embodiment when viewed from the front side of the flying robot 100 in the Y-axis direction. FIG. 3 is a diagram showing an example of a schematic configuration of the link mechanism 1 according to the first embodiment when viewed from the right side of the flying robot 100 in the X-axis direction. FIGS. 2 and 3 are diagrams showing the state of the link mechanism 1 when the flying robot 100 is not tilted. The states shown in FIGS. 2 and 3 are taken as the reference state of the first embodiment. The reference state is, for example, a state when the flying robot 100 is hovering and not tilted.

[0038] The link mechanism 1 has a base 2 fixed to the body 114 of the flying robot 100. A first support shaft 4 rotatably supporting a support unit 3 is arranged on the base 2 in the X-axis direction. The first support shaft 4 protrudes from both the left and right ends of the base 2 in the X-axis direction. The first support shaft 4 does not need to be a single shaft penetrating the base 2; separate shafts on the left and right may be arranged on the same line. The first support shaft 4 is arranged on the central axis around which the flying robot 100 rotates in the pitch direction. One end of the support unit 3 is rotatably supported on one end of the first support shaft 4, and the other end is rotatably supported on the other end of the first support shaft 4. The support units 3 extend upward in the Z-axis direction from the left and right ends of the first support shaft 4 in the X-axis direction, and are connected to each other at their tops in the X-axis direction. A second support shaft 6 rotatably supporting a top board 5 is arranged in the Y-axis direction at the top of the support unit 3 in the Z-axis direction. The top board 5 is a portion to which devices such as a sensor, a camera, or an end effector are fixed. The top board 5 is an example of a mounting portion.

[0039] A first actuator 7A and a second actuator 7B are arranged on the upper surface of the base portion 2. The first actuator 7A is arranged closer to the front in the Y axis direction than the first support shaft 4 and includes a first output shaft 9A that rotates a first link 8A. The first output shaft 9A is arranged in the X axis direction, and the first link 8A rotates around the first output shaft 9A. On the other hand, the second actuator 7B is arranged farther back in the Y axis direction than the first support shaft 4 and includes a second output shaft 9B that rotates the second link 8B. The second output shaft 9B is arranged in the X axis direction, and the second link 8B rotates around the second output shaft 9B. The first link 8A extends upward and inclined toward the front in the Y axis direction, and the second link 8B extends upward and inclined toward the rear in the Y axis direction.

[0040] One end of third link 10A is connected to the upper side of first link 8A in the Z axis direction via first joint 11A. The central axis of first joint 11A is arranged in the X axis direction, and rotatably supports first link 8A and third link 10A. One end of fourth link 10B is connected to the upper side of second link 8B in the Z axis direction via second joint 11B. The central axis of second joint 11B is arranged in the X axis direction, and rotatably supports second link 8B and fourth link 10B.

[0041] The other end of the third link 10A is connected to one end of the block 13A in the Y-axis direction via a third joint 12A. The third joint 12A has a center axis disposed in the X-axis direction. The third joint 12A is disposed closer to the first support shaft 4 in the Y-axis direction than the first support shaft 4. The other end of the fourth link 10B is connected to the other end of the block 13A in the Y-axis direction via the fourth joint 12B. The center axis of the fourth joint 12B is disposed in the X-axis direction, and the fourth joint 12B rotatably supports the fourth link 10B and the block 13A. The fourth joint 12B is disposed further back in the Y-axis direction than the first support shaft 4. The first output shaft 9A, the first link 8A, the first joint 11A, the third link 10A, and the third joint 12A are an example of a first telescopic mechanism. The second output shaft 9B, the second link 8B, the second joint 11B, the fourth link 10B, and the fourth joint 12B are an example of a second telescopic mechanism. The distance between the first output shaft 9A and the third joint 12A is an example of a first distance. The distance between the second output shaft 9B and the fourth joint 12B is an example of the second distance.

[0042] The block 13A is a component of the linear guide device 13 and is guided on the shaft 13B of the linear guide device 13. The shaft 13B extends from the center of the top of the support part 3 in the X-axis direction downward in the Z-axis direction. The length of the shaft 13B is determined by the range over which the block 13A can move. The block 13A may have multiple rolling elements that come into contact with the shaft 13B. The block 13A is an example of a moving part. The shaft 13B is an example of a track part.

[0043] A fifth joint 16A that rotatably supports one end of the fifth link 15A is disposed on the upper surface of the block 13A. The central axis of the fifth joint 16A is disposed in the Y-axis direction. The fifth joint 16A is disposed further forward in the Y-axis direction than the first support shaft 4. Similarly, a sixth joint 16B that rotatably supports one end of the sixth link 15B is disposed on the upper surface of the block 13A. The central axis of the sixth joint 16B is disposed in the Y-axis direction. The sixth joint 16B is disposed further back in the Y-axis direction than the first support shaft 4.

[0044] A seventh link 17A is formed on the top plate 5. The seventh link 17A protrudes along the Z axis from the lower surface in the Z axis direction to the second support shaft 6 and is tilted to the right in the X axis direction as it moves downward from the second support shaft 6 in the Z axis direction. The seventh link 17A is formed closer to the front in the Y axis direction than the first support shaft 4. Similarly, an eighth link 17B is formed on the top plate 5. The seventh link 17A protrudes along the Z axis from the lower surface in the Z axis direction to the second support shaft 6 and is tilted to the right in the X axis direction as it moves downward from the second support shaft 6 in the Z axis direction. The eighth link 17B is formed farther back in the Y axis direction than the first support shaft 4. The seventh link 17A and the eighth link 17B are formed parallel to each other. One end of the second support shaft 6 is supported by the seventh link 17A, and the other end is supported by the eighth link 17B. The second support shaft 6 rotatably supports the support portion 3 between the seventh link 17A and the eighth link 17B.

[0045] Fifth link 15A and seventh link 17A are rotatably connected by seventh joint 18A. The central axis of seventh joint 18A is disposed in the Y-axis direction. Furthermore, sixth link 15B and eighth link 17B are rotatably connected by eighth joint 18B. The central axis of eighth joint 18B is disposed in the Y-axis direction.

[0046] A control device 60 that controls the flight actuator 113, the first actuator 7A, and the second actuator 7B is mounted in the center of the top surface of the base unit 2. The control device 60 can be configured as a computer having a processor and memory. The control device 60 is configured to execute a predetermined control program stored in the memory. Through the execution of this program, the flight actuator 113, the first actuator 7A, the second actuator 7B, etc. are controlled. This allows the processor to realize functions that meet a predetermined purpose.

[0047] The control device 60 may include a communication unit that communicates with the outside world via wired or wireless communication, receives control commands via the communication unit, and controls the flight actuator 113, the first actuator 7A, and the second actuator 7B in accordance with the control commands. The control device 60 may also transmit information acquired by the end effector to the outside. The control device 60 may be a device included in the link mechanism 1. Furthermore, a control device that controls and processes information about the first actuator 7A, the second actuator 7B, or devices mounted on the top plate 5 may be installed separately from the control device 60 that controls flight.

[0048] Next, the operation of the link mechanism 1 will be described. The flight posture when the flying robot 100 according to the first embodiment is moved forward in the Y-axis direction will be described. Assume that the tilt of the flying robot 100 is, for example, a pitch angle of 15 degrees. At this time, the control device 60 controls the rotation angles of the first actuator 7A and the second actuator 7B so that the top board 5 remains horizontal. Note that the rotation angles of the first actuator 7A and the second actuator 7B are correlated with the distance (first distance) between the first output shaft 9A and the third joint 12A and the distance (second distance) between the second output shaft 9B and the fourth joint 12B. In this way, the first support shaft 4 coincides with the center of rotation of the flying robot 100 when the flying robot 100 tilts in the pitch direction.

[0049] FIG. 4 is a view of the link mechanism 1 when the flying robot 100 according to the first embodiment is tilted at a pitch angle of 15 degrees, as viewed from the right side in the X-axis direction. The control device 60 operates the first actuator 7A so that the angle A1 of the first link 8A relative to the first actuator 7A about the first output shaft 9A becomes smaller than the reference state shown in FIG. 3. At the same time, the control device 60 operates the second actuator 7B so that the angle A2 of the second link 8B relative to the second actuator 7B about the second output shaft 9B becomes larger than the reference state shown in FIG. 3. As a result, the angle A3 between the first link 8A and the third link 10A becomes larger than the reference state, and the angle A4 between the second link 8B and the fourth link 10B becomes smaller than the reference state. Furthermore, the angle A5 between the third link 10A and the block 13A becomes smaller than the reference state, and the angle A6 between the fourth link 10B and the block 13A becomes larger than the reference state. As a result, the distance (first distance) from the first output shaft 9A to the third joint 12A becomes longer than the distance (second distance) from the second output shaft 9B to the fourth joint 12B. At this time, the control device 60 simultaneously activates the first actuator 7A and the second actuator 7B so that the distance between the top plate 5 and the block 13A does not change and so that the top plate 5 is tilted 15 degrees with respect to the base part 2 (i.e., so that the top plate 5 remains horizontal).

[0050] The body 114 may be provided with a sensor that detects tilt. The rotation angles of the first actuator 7A and the second actuator 7B (which may be the rotation angles of the first output shaft 9A and the second output shaft 9B) corresponding to the pitch angle detected by the sensor may be stored in advance in the memory of the control device 60. In this way, the first actuator 7A and the second actuator 7B can be controlled according to the pitch angle detected by the sensor.

[0051] Next, the flight posture when the flying robot 100 according to the first embodiment is moved leftward in the X-axis direction will be described. Assume that the tilt of the flying robot 100 is, for example, a roll angle of 20 degrees. At this time, the control device 60 controls the first actuator 7A and the second actuator 7B so that the top board 5 remains horizontal. Figure 5 is a view of the link mechanism 1 when the flying robot 100 according to the first embodiment is tilted at a roll angle of 20 degrees, as seen from the front side in the Y-axis direction.

[0052] The control device 60 adjusts the angle A1 of the first link 8A with respect to the first actuator 7A around the first output shaft 9A so that the angle A1 is larger than that in the reference state shown in FIG. 3. At this time, the control device 60 simultaneously operates the first actuator 7A and the second actuator 7B so that the angle A1 of the first link 8A relative to the first actuator 7A and the angle A2 of the second link 8B relative to the second actuator 7B about the second output shaft 9B become larger than the angle A1 of the first link 8A relative to the first actuator 7A and the angle A2 of the second link 8B relative to the second actuator 7B become equal.

[0053] As a result, the angle A3 between the first link 8A and the third link 10A becomes smaller than that in the reference state, and the angle A4 between the second link 8B and the fourth link 10B becomes smaller than that in the reference state. Furthermore, the angle A5 between the third link 10A and the block 13A becomes larger than that in the reference state, and the angle A6 between the fourth link 10B and the block 13A becomes larger than that in the reference state. As a result, the distance (first distance) from the first output shaft 9A to the third joint 12A becomes equal to the distance (second distance) from the second output shaft 9B to the fourth joint 12B. This causes the block 13A to move downward in the Z-axis direction relative to the top plate 5. That is, the block 13A moves in a direction away from the top plate 5. Because the support unit 3 remains perpendicular to the base unit 2, the block 13A and the base unit 2 remain parallel to each other.

[0054] As the block 13A moves away from the tabletop 5, the angle A7 of the fifth link 15A relative to the block 13A becomes larger than the reference state shown in FIG. 2, and the angle A8 between the fifth link 15A and the seventh link 17A also becomes larger than the reference state shown in FIG. 2. At this time, the angle of the sixth link 15B relative to the block 13A is equal to A7, and the angle between the sixth link 15B and the eighth link 17B is equal to A8. As the angle A8 between the fifth link 15A and the seventh link 17A becomes larger than the reference state, the tabletop 5 rotates clockwise around the second support shaft 6. At this time, the control device 60 activates the first actuator 7A and the second actuator 7B so that the tabletop 5 is tilted 20 degrees relative to the base unit 2.

[0055] The rotation angles of the first actuator 7A and the second actuator 7B (which may be the rotation angles of the first output shaft 9A and the second output shaft 9B) corresponding to the roll angle detected by the sensor may be stored in advance in the memory of the control device 60. In this way, the first actuator 7A and the second actuator 7B can be controlled according to the roll angle detected by the sensor. Also, by controlling the first actuator 7A and the second actuator 7B according to both the pitch angle and the roll angle, the tabletop 5 can be maintained horizontal according to the pitch angle and the roll angle.

[0056] Here, when the end effector is fixed to the top board 5 and the end effector is brought into contact with an object, if the entire position of the flying robot 100 is to be brought closer to the object, the attitude of the flying robot 100 may change. That is, the flying robot 100 tilts and moves in the tilted direction by setting a difference in the thrust of the four propulsion units 111. Therefore, in order to bring the flying robot 100 closer to the object, it is necessary to tilt the flying robot 100 in the pitch direction. However, if the thrust of the four propulsion units 111 is made equal, for example, in an attempt to correct the tilt of the flying robot 100 after the end effector has come into contact with the object, the position of the end effector may shift when the attitude of the flying robot 100 changes. For example, in a conventional gimbal mechanism, the center of rotation in the pitch direction of the gimbal mechanism is offset from the center of rotation of the flying robot 100, so the position of the end effector shifts when the attitude of the flying robot 100 changes. This can make it difficult to bring the end effector into contact with the desired location on the object.

[0057] In contrast, in the link mechanism 1 according to the first embodiment, the rotation center of the flying robot 100 in the pitch direction and the first support shaft 4 are positioned on the same straight line. When the flying robot 100 approaches an object, the top plate 5 can be rotated around the first support axis 4 in accordance with the tilt of the flying robot 100, thereby preventing the position of the top plate 5 from changing. This prevents the end effector from moving up and down and forward and backward. If, for example, a camera is placed on the top plate 5, fluctuations in the camera's imaging range can be prevented. The top plate 5 can also be rotated around the second support axis 6. Therefore, when the flying robot 100 tilts in the roll direction, tilting of the top plate 5 can be prevented by rotating the top plate 5 around the second support axis 6 in accordance with the tilt of the flying robot 100. This prevents the end effector from tilting. In addition, in the first embodiment, the top plate 5 of the link mechanism 1 can be attached above the propeller 112 of the flying robot 100. Attaching the top plate 5 in this position prevents the attitude of the flying robot 100 from becoming unstable, for example, when the end effector comes into contact with an object. Furthermore, the first actuator 7A and the second actuator 7B can be evenly positioned near the center of gravity of the flying robot 100, thereby improving flight performance. Furthermore, the link mechanism 1 can be operated with two actuators, which can suppress an increase in weight. Furthermore, since the first actuator 7A and the second actuator 7B are positioned away from the center of the base part 2, space is created near the center of the base part 2, making it possible to position, for example, the control device 60.

[0058] Second Embodiment The link mechanism 1 according to the second embodiment has a mechanism for adjusting pitch angle changes. The flying robot 100 according to the second embodiment also has a main body similar to the main body 110 according to the first embodiment. FIG. 6 is a perspective view showing an example of the schematic configuration of the flying robot 100 equipped with the link mechanism 1 according to the second embodiment. Components with the same functions as those in the first embodiment are designated by the same reference numerals. The link mechanism 1 according to the second embodiment does not include the linear guide device 13 and does not have a structure for moving the top plate 5 in the vertical direction. Because the top plate 5 is fixed to the support 3, it can only rotate in the pitch direction around the first support shaft 4. Therefore, it does not include the fifth link 15A, fifth joint 16A, seventh joint 18A, sixth link 15B, sixth joint 16B, and eighth joint 18B, which are included in the mechanism for tilting the top plate 5 using the linear guide device 13. The link mechanism 1 according to the second embodiment also does not include the first actuator 7A, first output shaft 9A, first link 8A, third link 10A, and first joint 11A according to the first embodiment.

[0059] The tabletop 5 according to the second embodiment has an eighth link 17B formed thereon, which protrudes from the surface on the lower side in the Z axis direction and is inclined to the right in the X axis direction as it moves downward in the Z axis direction. The eighth link 17B is formed further back in the Y axis direction than the first support shaft 4. The other end of the fourth link 10B and the eighth link 17B are rotatably connected by a fourth joint 12B. The center axis of the fourth joint 12B is disposed in the X axis direction, and the fourth joint 12B is disposed further back in the Y axis direction than the first support shaft 4.

[0060] Third Embodiment The link mechanism 1 according to the third embodiment has a mechanism for responding to changes in pitch angle and a mechanism for responding to changes in height. The flying robot 100 according to the third embodiment also has a main body similar to the main body 110 according to the first embodiment. Figure 7 is a perspective view showing an example of the schematic configuration of the flying robot 100 equipped with the link mechanism 1 according to the third embodiment. Components with the same functions as those in the first embodiment are designated by the same reference numerals. The link mechanism 1 according to the third embodiment does not have a mechanism for rotating the top board 5 in the roll direction. Therefore, the link mechanism 1 according to the third embodiment does not have the fifth link 15A, fifth joint 16A, seventh joint 18A, sixth link 15B, sixth joint 16B, and eighth joint 18B included in the mechanism for tilting the top board 5 using the linear guide device 13. The top board 5 can rotate only in the pitch direction around the first support shaft 4.

[0061] A through hole 13C, through which the shaft 13B of the linear guide device 13 slides, is formed in the Z-axis direction at the top of the support part 3 according to the third embodiment. The shaft 13B protrudes downward in the Z-axis direction from the tabletop 5. The through hole 13C is formed to slidably support the shaft 13B. The shaft 13B slides in the Z-axis direction while being guided by the through hole 13C. The amount of protrusion of the shaft 13B is determined by the range over which the tabletop 5 can move.

[0062] A seventh link 17A is formed on the tabletop 5, protruding from the lower surface in the Z axis direction and inclined toward the front in the Y axis direction as it extends downward in the Z axis direction. The seventh link 17A is formed closer to the front in the Y axis direction than the first support shaft 4. The other end of the third link 10A and the seventh link 17A are rotatably connected by a third joint 12A. The central axis of the third joint 12A is located in the X axis direction and closer to the front in the Y axis direction than the first support shaft 4. The tabletop 5 is also formed with an eighth link 17B, protruding from the lower surface in the Z axis direction and inclined toward the rear in the Y axis direction as it extends downward in the Z axis direction. The eighth link 17B is formed farther back in the Y axis direction than the first support shaft 4. The other end of the fourth link 10B and the eighth link 17B are rotatably connected by a fourth joint 12B. The central axis of the fourth joint 12B is located in the X axis direction and closer to the rear in the Y axis direction than the first support shaft 4.

[0063] <Fourth embodiment> The link mechanism 1 according to the fourth embodiment has a mechanism for responding to changes in the roll angle and a mechanism for responding to changes in the pitch angle. The flying robot 100 according to the fourth embodiment has a main body similar to the main body 110 according to the first embodiment. FIG. 8 is a perspective view showing an example of the schematic configuration of the flying robot 100 equipped with the link mechanism 1 according to the fourth embodiment. FIG. 9 is a diagram showing an example of the schematic configuration of the link mechanism 1 according to the fourth embodiment when viewed from the front side of the flying robot 100 in the Y-axis direction. FIG. 10 is a diagram showing an example of the schematic configuration of the link mechanism 1 according to the fourth embodiment when viewed from the right side of the flying robot 100 in the X-axis direction. FIGS. 8 to 10 are diagrams showing the state of the link mechanism 1 when the flying robot 100 is not tilted. The states shown in FIGS. 8 to 10 are referred to as the reference state of the fourth embodiment.

[0064] The link mechanism 1 has a base unit 2 fixed to the body 114 of the flying robot 100. A first support shaft 31 that rotatably supports the support unit 30 is arranged in the Y-axis direction on the base unit 2. The first support shaft 31 is arranged on the central axis when the flying robot 100 rotates in the roll direction. The first support shaft 31 protrudes from the right end of the base unit 2 in the Y-axis direction. One end of the support unit 30 is rotatably supported by the first support shaft 31. The support unit 30 extends from the rear end of the base unit 2 in the Y-axis direction, tilting toward the rear in the Y-axis direction as it moves upward in the Z-axis direction. A second support shaft 32 that rotatably supports the top board 5 is arranged in the X-axis direction at the top of the support unit 30 in the Z-axis direction.

[0065] A first actuator 7A and a second actuator 7B are arranged on the upper surface of the base portion 2. The first actuator 7A is arranged to the left of the first support shaft 31 in the X axis direction and includes a first output shaft 9A that rotates a first link 8A. The first output shaft 9A is arranged in the Y axis direction, and the first link 8A rotates around the first output shaft 9A. Meanwhile, the second actuator 7B is arranged to the right of the first support shaft 31 in the X axis direction and includes a second output shaft 9B that rotates the second link 8B. The second output shaft 9B is arranged in the Y axis direction, and the second link 8B rotates around the second output shaft 9B. The first link 8A extends upward and inclined to the left in the X axis direction, and the second link 8B extends upward and inclined to the right in the X axis direction.

[0066] On the upper side of the first link 8A in the Z-axis direction, one end side of the third link 10A is connected to a first joint 11 The first link 8A and the third link 10A are connected via a second joint 11B. The first joint 11A has a central axis disposed in the Y-axis direction, and rotatably supports the first link 8A and the third link 10A. One end of the fourth link 10B is connected to the upper side of the second link 8B in the Z-axis direction via a second joint 11B. The second joint 11B has a central axis disposed in the Y-axis direction, and rotatably supports the second link 8B and the fourth link 10B.

[0067] One end of a ninth link 33A is connected to the other end of the third link 10A via a third joint 12A. The third joint 12A rotatably supports the third link 10A and the ninth link 33A. The central axis of the third joint 12A is disposed in the Y-axis direction, and is disposed to the left of the first support shaft 31 in the X-axis direction. One end of a tenth link 33B is connected to the other end of the fourth link 10B via a fourth joint 12B. The fourth joint 12B rotatably supports the fourth link 10B and the tenth link 33B. The central axis of the fourth joint 12B is disposed in the Y-axis direction, and is disposed to the right of the first support shaft 31 in the X-axis direction.

[0068] The other end of the ninth link 33A and the other end of the tenth link 33B are connected to a block 34A of the linear guide device 34. The block 34A is a component of the linear guide device 34 and is guided on a shaft 34B of the linear guide device 34. The shaft 34B is arranged in the Y-axis direction on the underside of the top plate 5. The ninth link 33A is connected to the left end of the block 34A in the X-axis direction so as to be rotatable around a rotation shaft 35A. The rotation shaft 35A is arranged in the X-axis direction. Furthermore, the sixth link 15B is connected to the right end of the block 34A in the X-axis direction so as to be rotatable around the rotation shaft 35B. The rotation shaft 35B is arranged in the X-axis direction. Furthermore, the rotation shaft 35A and the rotation shaft 35B are arranged on the same line parallel to the X-axis. The block 34A may have a plurality of rolling elements in contact with the shaft 34B. The block 34A is an example of a moving part. The shaft 34B is an example of a raceway portion.

[0069] An eleventh link 36 is formed on the top plate 5, which is inclined from the lower surface in the Z axis direction toward the back in the Y axis direction as it moves downward in the Z axis direction. The eleventh link 36 is formed further back in the Y axis direction than the first support shaft 31. The second support shaft 32 is disposed in the X axis direction on the eleventh link 36.

[0070] Next, the operation of the link mechanism 1 will be described. The flying attitude when the flying robot 100 according to the fourth embodiment is moved to the left in the X-axis direction will be described. Assume that the inclination of the flying robot 100 is, for example, a roll angle of 15 degrees. At this time, the control device 60 controls the first actuator 7A and the second actuator 7B so that the top board 5 remains horizontal.

[0071] FIG. 11 is a view of the link mechanism 1 according to the fourth embodiment of the flying robot 100, viewed from the front side in the Y-axis direction, when the flying robot 100 is tilted at a roll angle of 15 degrees. The control device 60 operates the first actuator 7A so that the angle A1 of the first link 8A relative to the first actuator 7A about the first output shaft 9A becomes smaller than the reference state shown in FIG. 9 . At the same time, the control device 60 operates the second actuator 7B so that the angle A2 of the second link 8B relative to the second actuator 7B about the second output shaft 9B becomes larger than the reference state shown in FIG. 9 . As a result, the angle A3 between the first link 8A and the third link 10A becomes larger than the reference state, and the angle A4 between the second link 8B and the fourth link 10B becomes smaller than the reference state. Furthermore, the angle A5 between the third link 10A and the block 34A becomes smaller than the reference state, and the angle A6 between the fourth link 10B and the block 34A becomes larger than the reference state. As a result, the distance (first distance) from the first output shaft 9A to the third joint 12A becomes longer than the distance (second distance) from the second output shaft 9B to the fourth joint 12B. At this time, the control device 60 controls the movement of the top board 5 so that the distance between the top board 5 and the first support shaft 31 does not change. The first actuator 7A and the second actuator 7B are simultaneously operated so that the top plate 5 is tilted 15 degrees relative to the base portion 2 (that is, so that the top plate 5 is kept horizontal).

[0072] The rotation angles of the first actuator 7A and the second actuator 7B corresponding to the roll angle detected by the sensor may be stored in advance in the memory of the control device 60. In this way, it becomes possible to control the first actuator 7A and the second actuator 7B according to the roll angle detected by the sensor.

[0073] Next, the flight posture when the flying robot 100 according to the fourth embodiment is moved forward in the Y-axis direction will be described. Assume that the tilt of the flying robot 100 is, for example, a pitch angle of 20 degrees. At this time, the control device 60 controls the first actuator 7A and the second actuator 7B so that the top board 5 remains horizontal.

[0074] FIG. 12 is a view of the link mechanism 1 according to the fourth embodiment of the flying robot 100, viewed from the right side in the X-axis direction, when the flying robot 100 is tilted at a pitch angle of 20 degrees. The control device 60 operates the first actuator 7A so that the angle A1 of the first link 8A relative to the first actuator 7A about the first output shaft 9A becomes smaller than the reference state shown in FIG. 9 . At the same time, the control device 60 operates the second actuator 7B so that the angle A2 of the second link 8B relative to the second actuator 7B about the second output shaft 9B becomes smaller than the reference state shown in FIG. 9 . As a result, the angle A3 between the first link 8A and the third link 10A becomes larger than the reference state, and the angle A4 between the second link 8B and the fourth link 10B becomes larger than the reference state. Furthermore, the angle A5 between the third link 10A and the block 34A becomes smaller than the reference state, and the angle A6 between the fourth link 10B and the block 34A becomes smaller than the reference state. As a result, the distance (first distance) from the first output shaft 9A to the third joint 12A becomes equal to the distance (second distance) from the second output shaft 9B to the fourth joint 12B, causing the block 34A to move upward in the Z-axis direction relative to the base part 2.

[0075] Here, movement of the tabletop 5 in the Z-axis direction is limited to a rotational direction around the second support shaft 32. Therefore, when the block 34A moves upward in the Z-axis direction, the ninth link 33A rotates around the rotational shaft 35A relative to the block 34A. At the same time, the tenth link 33B rotates around the rotational shaft 35B relative to the block 34A. Furthermore, the block 34A moves forward in the Y-axis direction along the shaft 34B. At this time, the angle formed by the shaft 34B with the third joint 12A and the fourth joint 12B is equal to a pitch angle of 20 degrees. In this way, the tabletop 5 rotates upward in the Z-axis direction around the second support shaft 32. At this time, the angle A9 formed between the support part 30 and the eleventh link 36 becomes larger than the reference state shown in FIG. 10 . Furthermore, the block 34A is guided on the shaft 34B, so that it remains parallel to the tabletop 5.

[0076] The control device 60 simultaneously operates the first actuator 7A and the second actuator 7B so that the tabletop 5 is tilted 20 degrees relative to the base unit 2. The rotation angles of the first actuator 7A and the second actuator 7B corresponding to the pitch angle detected by the sensor may be stored in advance in the memory of the control device 60. This makes it possible to control the first actuator 7A and the second actuator 7B according to the pitch angle detected by the sensor. Furthermore, by controlling the first actuator 7A and the second actuator 7B according to the pitch angle and roll angle, the tabletop 5 can be maintained horizontal according to the pitch angle and roll angle.

[0077] <Effects of the Second to Fourth Embodiments> In the link mechanism 1 according to the second and third embodiments, the rotation center in the pitch direction of the flying robot 100 and the first support shaft 4 are located on the same straight line, as in the first embodiment. Therefore, when the flying robot 100 approaches an object, the end effector can be prevented from moving in the up-down and front-back directions. Furthermore, in the link mechanism 1 according to the fourth embodiment, the center of rotation in the roll direction of the flying robot 100 and the first support shaft 31 are located on the same line. This prevents the end effector from moving in the up-down and left-right directions when the flying robot 100 tilts in the roll direction. Furthermore, in the second to fourth embodiments, the top plate 5 of the link mechanism 1 can be attached higher than the propellers 112 of the flying robot 100. By attaching the top plate 5 in this position, it is possible to prevent the attitude of the flying robot 100 from becoming unstable when the end effector comes into contact with an object. Furthermore, it is possible to position the second actuator 7B near the center of gravity of the flying robot 100, thereby improving flight performance. Furthermore, in the second embodiment, the link mechanism 1 can be operated with one actuator, thereby preventing weight increase. In the third and fourth embodiments, the link mechanism 1 can be operated with two actuators, thereby preventing weight increase. Furthermore, since the first actuator 7A and the second actuator 7B are arranged away from the center of the base part 2, space is created near the center of the base part 2, making it possible to arrange the control device 60, for example. [Explanation of symbols]

[0078] 1. Link mechanism, 2. Base portion, 3. Support portion, 4. First support shaft, 5. Top plate, 6. Second support shaft, 7A. First actuator, 7B. Second actuator, 13. Linear motion guide device, 60. Control device, 100. Flying robot

Claims

1. a mounting portion configured to mount a device; a first support shaft disposed in a first direction on the base portion; a support portion rotatably disposed by the first support shaft and supporting the placement portion; an extension mechanism that is disposed on the base portion and that extends and contracts using a plurality of links, the extension mechanism having a mechanism that rotates the support portion around the first support shaft by extending and contracting using the plurality of links; an actuator that generates power for the extension / contraction mechanism; A link mechanism for a flying robot comprising:

2. a second support shaft that supports the mounting portion and is arranged parallel to a second direction perpendicular to the first direction; the extension mechanism has a mechanism for rotating the placement unit around the second support shaft; The link mechanism for a flying robot according to claim 1 .

3. a linear guide device that transmits the power generated by the actuator to the placement unit to rotate the placement unit about the second support shaft; The link mechanism for a flying robot according to claim 2.

4. the telescopic mechanism includes a first telescopic mechanism and a second telescopic mechanism, the actuator includes a first actuator that generates power for the first telescopic mechanism and a second actuator that generates power for the second telescopic mechanism, the first actuator is disposed at one end of the first telescopic mechanism on the base portion side, the second actuator is disposed at one end of the second telescopic mechanism on the base portion side, the first telescopic mechanism and the second telescopic mechanism are arranged parallel to the second direction across the first support shaft, The linear guide device has a moving part that is guided on a track part, The other end of the first telescopic mechanism is rotatably supported at one end of the moving part in the second direction, The other end of the second telescopic mechanism is rotatably supported at the other end of the moving part in the second direction, The first telescopic mechanism is configured to be able to change a first distance from the one end to the other end of the first telescopic mechanism by operating the first actuator, the second telescopic mechanism is configured to be able to change a second distance from the one end to the other end of the second telescopic mechanism by operating the second actuator, The first telescopic mechanism and the second telescopic mechanism are configured to rotate the moving part around the first support shaft by individually changing the first distance and the second distance. The link mechanism for a flying robot according to claim 3.

5. the first direction is the direction of the pitch axis, the second direction is the direction of the roll axis, the track portion extends from the placement portion side of the support portion in a direction perpendicular to the first support axis, the moving portion is guided and moved on the track portion according to the first distance and the second distance, the telescopic mechanism has a mechanism for rotating the placement unit around the second support shaft in response to the movement of the moving unit being guided on the track unit. The link mechanism for a flying robot according to claim 4.

6. the first direction is the direction of the roll axis, the second direction is the direction of the pitch axis, the track portion is disposed on the mounting portion so as to be parallel to the first support shaft in a predetermined state; the moving portion is guided and moved on the track portion according to the first distance and the second distance, the telescopic mechanism has a mechanism for rotating the placement unit around the second support shaft in response to the movement of the moving unit being guided on the track unit. The link mechanism for a flying robot according to claim 4.

7. A flying robot comprising the link mechanism for a flying robot according to any one of claims 1 to 6.

8. The first support axis is disposed at the center of rotation when the flying robot tilts. The flying robot according to claim 7.

9. The vehicle has multiple propulsion units that generate thrust by driving rotors, The mounting portion is disposed above the rotor blade in the direction of gravity. The flying robot according to claim 7.

10. a mounting portion configured to mount a device; a first support shaft disposed in a first direction on the base portion; a support portion rotatably disposed by the first support shaft and supporting the placement portion; A flying robot comprising: The first support axis is disposed at the center of rotation when the flying robot tilts. Flying robot.

Images