End effector mounting structure

Abstract

To provide a technique capable of suitably mitigating an influence when an end effector mounted on a flying body comes into contact with a structure or the like.SOLUTION: In an attachment structure of an end effector attached to a tip end portion of a shaft extending in a forward direction of a flying object, there is provided a connecting member that connects the tip end portion of the shaft and the end effector, that is bent and deformed in a first direction orthogonal to an axial direction of the shaft and in a second direction opposite to the first direction in response to receiving an external force, and that is restored to an original shape in response to being released from the external force. The coupling member is configured such that a bendable amount in the first direction is smaller than a bendable amount in the second direction.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a mounting structure for an end effector in an aircraft. [Background technology]

[0002] In recent years, development has progressed on unmanned aerial vehicles, such as unmanned helicopters or drones, that are used for work at high altitudes, etc. One such unmanned aerial vehicle is known to include an imaging means (camera) attached to the base of the unmanned aerial vehicle, an arm attached to the base of the unmanned aerial vehicle, a lateral rotation prevention bar attached to the tip of the arm, and a comparison unit attached to the lateral rotation prevention bar, and by pressing the comparison unit against an inspection object, electricity is passed between an electrically conductive part attached to the lateral rotation prevention bar and an electrically conductive element attached to the comparison unit, thereby operating the imaging means (camera) (taking an image of the inspection object) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-100498 Summary of the Invention [Problem to be solved by the invention]

[0004] It is conceivable to use an aircraft when carrying out work such as inspection or maintenance of a work object such as equipment installed at a high place, etc. One conceivable method is to mount a shaft with a work end effector attached to the tip of the aircraft on the aircraft, and fly the aircraft so that the end effector comes into contact with the work object, thereby carrying out inspection or maintenance of the work object.

[0005] However, when an aircraft is in flight, external disturbances such as wind and air currents act on it, which can cause the end effector to slip under structures around the target. In such a case, the aircraft must be temporarily moved backward to reattempt contact between the end effector and the target. However, the pitching of the aircraft as it moves backward can cause the end effector to be lifted upward and come into contact with the structure. This can affect the function of the end effector and the flight control of the aircraft.

[0006] One possible solution to this problem is to make the attachment part of the end effector at the tip of the shaft flexible, thereby mitigating the impact when the end effector comes into contact with a structure. However, when flight control is performed using images from a camera mounted on the aircraft, depending on the direction in which the attachment part bends, the end effector may be displaced to a position that blocks the view of the work object from the camera, making it impossible for the camera to recognize the image of the work object.

[0007] Furthermore, in an aircraft equipped with a camera, it is preferable to position the end effector near the center of the camera's angle of view so that the correlation between the position of the work object in the image captured by the camera and the actual position of the work object does not change depending on the distance between the aircraft and the work object. Meanwhile, it is preferable to position the end effector's mounting portion, shaft, and other peripheral components offset from the center of the camera's angle of view so as not to obstruct the work object from the camera. If the end effector and the peripheral components are offset from each other in this way, even if the end effector makes direct contact with the work object, a reaction force that bends the mounting portion may be generated, potentially causing the contact position of the end effector to deviate from the position of the work object.

[0008] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide an end effector The present invention provides a technology capable of suitably mitigating the impact on an end effector, an aircraft, etc. when the end effector comes into contact with a structure, etc. [Means for solving the problem]

[0009] One aspect of the present invention is a mounting structure for an end effector attached to a tip end of a shaft extending forward of an aircraft, comprising: a connecting member is provided which connects the tip end of the shaft and the end effector, and which is a member which is bent and deformed in a first direction perpendicular to the axial direction of the shaft and in a second direction opposite to the first direction in response to an external force and which returns to its original shape in response to being released from the external force; The end effector mounting structure is characterized in that the connecting member has a bending deformation amount in the first direction that is smaller than the bending deformation amount in the second direction.

[0010] The present invention can also be understood as an aircraft that employs the above-described end effector mounting structure. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a technique that can suitably mitigate the impact on an end effector, an aircraft, etc. when the end effector comes into contact with a structure, etc. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing an example of an aspect in which a wind power generator is inspected using a drone. [Figure 2] FIG. 1 is a diagram illustrating an example of a schematic configuration of a drone according to an embodiment. [Figure 3] FIG. 2 is a diagram illustrating an example of the overall configuration of a probe mechanism according to an embodiment. [Figure 4] FIG. 10 is a perspective view showing a probe head attachment portion at the front end of the shaft in the embodiment. [Figure 5] FIG. 4 is a cross-sectional view showing an example of the configuration of a connecting member in the embodiment. [Figure 6] 4 is a cross-sectional view showing an example of the configuration of a support member included in a connecting member in the embodiment. FIG. [Figure 7]10A and 10B are diagrams illustrating the amount of bending deformation of a connecting member in the embodiment. [Figure 8] 10A and 10B are diagrams illustrating a state in which the connecting member in the embodiment is bent upward to the maximum extent. [Figure 9] FIG. 1 is a first diagram for explaining the operation and effect of the embodiment. [Figure 10] FIG. 2 is a second diagram for explaining the operation and effect of the embodiment. [Figure 11] FIG. 10 is a third diagram for explaining the operation and effect of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] In the end effector mounting structure according to the present invention, the end effector is attached to the distal end of a shaft extending forward of the aircraft via a connecting member. The connecting member according to the present invention is a member that bends and deforms in a first direction perpendicular to the axial direction of the shaft and in a second direction opposite to the first direction in response to an external force, and returns to its original shape in response to release from the external force. In one example, the connecting member is a generally rod-shaped member having flexibility that allows it to elastically deform and return to its original shape, and may include a flexible member whose distal end is connected to the end effector, and a support member provided at the distal end of the shaft and supporting a base end of the flexible member.

[0014] Here, the first direction and the second direction may be determined according to the relative positions of the camera and the end effector mounted on the aircraft. As an example, when the camera is positioned above the position of the end effector in the vertical direction of the aircraft, the first direction may be the upward direction of the aircraft and the second direction may be the downward direction of the aircraft. Note that the directions in which the connecting member can be bent and deformed are not limited to the first direction and the second direction among the directions perpendicular to the axial direction of the shaft, and may be any direction including the first direction. The bending deformation may be possible in directions other than the first direction and the second direction.

[0015] Furthermore, in the end effector mounting structure according to the present invention, the connecting member is configured so that its bending deformation amount in the first direction is smaller than its bending deformation amount in the second direction. Here, in an example in which the connecting member includes the flexible member and the support member described above, the support member may be configured so that a first contact surface, which is a contact surface with the surface of the flexible member on the first direction side, extends further toward the tip of the flexible member than a second contact surface, which is a contact surface with the surface of the flexible member on the second direction side. This allows the bending deformation amount of the connecting member in the first direction (the bending deformation amount of the flexible member in the first direction) to be smaller than the bending deformation amount of the connecting member in the second direction (the bending deformation amount of the flexible member in the second direction). Furthermore, in an example in which a camera is mounted on an aircraft in the above-described arrangement, the extension amount of the first contact surface toward the tip of the flexible member may be determined so that the position of the end effector in the vertical direction of the aircraft when the connecting member is bent to the maximum in the first direction is located below the center of the camera's angle of view. This prevents the position of the end effector in the vertical direction of the aircraft from being displaced beyond the center of the camera's angle of view, even when the connecting member is bent and deformed at its maximum in the first direction. For example, even when the connecting member is bent and deformed in the first direction in response to the end effector contacting the work object, the camera can still image-recognize the work object. Furthermore, the extension amount of the first contact surface toward the tip end of the flexible member may be determined so that the displacement of the contact position of the end effector is minimized when the connecting member is bent and deformed due to a reaction force generated when the end effector contacts the work object. This makes it easier to prevent the contact position of the end effector from being displaced from the position of the work object, even when the contact position of the end effector is displaced due to a reaction force generated when the end effector contacts the work object.

[0016] According to the end effector mounting structure of the present invention, when an external force in a first or second direction acts on the end effector as the end effector comes into contact with a structure or the like other than the work target, the connecting member bends and deforms in the first or second direction, thereby mitigating the impact and reaction force received by the end effector and minimizing the impact on the attitude control of the aircraft, etc. This makes it possible to minimize the impact on the function of the end effector and the flight control of the aircraft, etc.

[0017] Furthermore, according to the end effector mounting structure of the present invention, since the amount of displacement of the end effector in the first direction when the connecting member bends and deforms in the first direction can be kept small, by determining the first and second directions according to the relative positions of the camera mounted on the aircraft and the end effector, it is possible to prevent the end effector from displacing to a position where it blocks the view of the work object from the camera. Furthermore, by adopting a configuration in which the direction in which the connecting member bends and deforms in the first direction due to the reaction force generated when the end effector comes into contact with the work object is the first direction, it is possible to minimize the displacement of the contact position of the end effector as much as possible, even if the connecting member bends and deforms in the first direction when the end effector comes into contact with the work object.

[0018] Therefore, the end effector mounting structure according to the present invention can suitably mitigate the impact on the end effector, the aircraft, etc. when the end effector comes into contact with a structure, etc.

[0019] 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.

[0020] <Embodiment> In this embodiment, the end effector mounting structure according to the present invention is An example of application of the drone 1 to the inspection of a wind power generator 20 will be described below. FIG. 1 is a diagram showing an example of an embodiment in which the drone 1 is used to inspect a wind power generator 20.

[0021] (Overall composition) The wind power generator 20 comprises a tower 21 standing upright on the ground and blades 22 attached to the top of the tower 21 and rotating in response to the wind. Receptors 23 are provided on the blades 22 of the wind power generator 20. The receptors 23 are connected to a ground electrode via electric wires or the like, and are configured so that lightning current flows from the receptors 23 to the ground electrode when lightning strikes.

[0022] The drone 1 is an aircraft for inspecting a receptor 23 attached to the blades 22 of a wind turbine generator 20. Such inspection is performed, for example, by detecting the current value flowing through the ground electrode when a voltage is applied to the receptor 23 by the drone 1. To this end, a wire 30 is connected to the drone 1 for supplying inspection power from an inspection device 31 to the drone 1. The inspection device 31 applies a voltage to the receptor 23 using the drone 1 and detects the current value flowing through the ground electrode. The wire 30 may include an electric wire for controlling the drone 1 or an electric wire for supplying power to the drone 1. Furthermore, a drone other than the drone 1 or a robot moving on the tower 21 may be placed on the wire 30 for the purpose of supporting the weight of the wire 30, for example.

[0023] The drone 1 has a probe mechanism 10. The probe mechanism 10 is a mechanism for checking continuity by contacting the receptor 23, and is configured to include, for example, an electrode. The electrode of the probe mechanism 10 is connected to the wire 30 described above.

[0024] (Drone) Here, the configuration of the drone 1 in this embodiment will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of a schematic configuration of the drone 1 in this embodiment. The drone 1 in this embodiment is configured to include a main body 110 and multiple propulsion units 111.

[0025] The main body 110 includes a body 114 and a plurality of bridges 115 extending radially from the body 114. The plurality of propulsion units 111 are attached to the plurality of bridges 115, respectively. In the example shown in FIG. 2, the plurality of propulsion units 111 are arranged at equal intervals on an imaginary circumference centered on the body 114. Note that the arrangement of the plurality of propulsion units 111 is not limited to the configuration in which the propulsion units 111 are arranged at equal intervals on an imaginary circumference centered on the body 114, and can be changed as appropriate depending on the embodiment. As an example, the position of the propulsion unit 111 arranged in front of the body 114 may be offset closer to the body 114 than on the imaginary circumference, so that the body 114 can be brought closer to the receptor 23, which is the work target.

[0026] Each of the multiple propulsion units 111 includes a propeller 112, which is a rotor, and an actuator 113 for driving the propeller 112 to rotate. The multiple propulsion units 111 may all be the same type of unit, or may be different types of units. The multiple actuators 113 can be controlled independently of each other. This allows the thrust obtained by the multiple propulsion units 111 to be individually controlled. As a result, the flight attitude, flight speed, etc. of the drone 1 can be controlled appropriately.

[0027] Each of the multiple bridges 115 is attached with legs 120 that support the main body 110 when landing. The multiple legs 120 are arranged at equal intervals on an imaginary circumference centered on the body 114, and extend downward from the bridge 115.

[0028] In the example shown in Figure 2, the drone 1 has four propulsion units 111, four bridges 115, and four legs 120, but the number of each of the propulsion units 111, four bridges 115, and four legs 120 is not limited to four and can be changed as appropriate depending on the embodiment.

[0029] In the following description, when the drone 1 is in a hovering state, the direction in which the lift force of the propeller 112 acts (vertically upward (upward in FIG. 2)) is defined as the upward direction of the drone 1, and the direction opposite to the direction in which the lift force acts (vertically downward (downward in FIG. 2)) is defined as the downward direction of the drone 1. Accordingly, the direction perpendicular to the up-down direction is defined as the horizontal direction.

[0030] The body 114 is equipped with a battery for supplying driving power to the actuators 113 of each propulsion unit 111, a control device 60 for controlling the power supply from the battery to the actuators 113, and the like.

[0031] The control device 60 is configured to include a computer having a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), etc., and a flight controller that controls the attitude, movement, etc. of the drone 1. Various programs, tables, etc. are stored in the EPROM. The CPU loads and executes the programs stored in the EPROM into the working area of ​​the RAM, and through the execution of these programs, instructions such as ascent and movement are given to the flight controller, and based on these instructions, the flight controller controls the actuators 113, etc. In this way, the CPU realizes functions that meet a predetermined purpose.

[0032] The control device 60 may include a communication unit that communicates with the outside world via wired or wireless communication, receive control commands via the communication unit, and switch the operation content in accordance with the control commands. In this case, as with a normal drone, the control device 60 may have a flight controller control the propulsion unit 111 according to control inputs made by an operator manually operating the controller or according to a flight plan stored in advance in the flight controller. The control device 60 also controls the probe mechanism 10 to contact the receptor 23 based on signals from a laser sensor 101 and a camera 102, which will be described later.

[0033] A support 141 that supports a rod 140 is provided on the upper part of the body 114. The rod 140 is a cylindrical member that extends horizontally. The probe mechanism 10 is attached to one end of such rod 140 via a fixing member 142. In this case, the probe mechanism 10 is positioned above the horizontal plane that includes the four propellers 112.

[0034] In the following description, when the drone 1 is in a hovering state, the direction of the central axis of the rod 140 and the direction from the support part 141 toward the probe mechanism 10 is defined as the forward direction of the drone 1, and the direction from the support part 141 toward the side where the probe mechanism 10 is not attached is defined as the rear direction of the drone 1. Accordingly, the direction diagonally upward and left in FIG. 2 is defined as the right direction of the drone 1, and the direction diagonally downward and right in FIG. 2 is defined as the left direction of the drone 1.

[0035] The probe mechanism 10 is a mechanism for contacting the receptor 23 to check continuity, and is attached to the front end of the rod 140. The wire 30 described above is connected to the probe head 16. In the example shown in FIG. 2, the wire 30 is arranged outside the probe mechanism 10, but the wire 30 may also pass through the inside of the probe mechanism 10. The probe mechanism 10 is equipped with a laser sensor 101 for measuring the distance to the target object (i.e., the receptor 23), a camera 102 for image recognition of the position of the receptor 23, and the like.

[0036] (probe mechanism) The configuration of the probe mechanism 10 in this embodiment will now be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of the overall configuration of the probe mechanism 10 in this embodiment.

[0037] As shown in Fig. 3, the probe mechanism 10 in this embodiment is configured to include an arm 11, a shaft 12, and two springs 13. The arm 11 is a plate-shaped member extending in the left-right direction from the front end of a rod 140, and is fixed to the front end of the rod 140 via the fixing member 142 described above. Although not shown in Fig. 3, the laser sensor 101 and camera 102 described above are attached to the upper part of the arm 11.

[0038] Each of the left and right ends of the arm 11 is formed with a protrusion 11B that protrudes rearward beyond the central portion 11A of the arm 11. Each of these protrusions 11B is formed with a hole 11C for attaching the spring 13 to the arm 11. When attaching the spring 13 to the arm 11, a pin or bolt may be passed through the hole 11C and the spring 13 may be hooked onto the pin or bolt, or the end of the spring 13 may be directly hooked onto the hole 11C. The arm 11 is also formed with one or more bent portions 11D such that the two protrusions 11B are positioned above the central portion 11A of the arm 11. In one example, the arm 11 may be bent at the bent portion 11D parallel to the central axis of the shaft 12. Instead of bending the arm 11, a support or the like may be provided on the arm 11 to position the protrusions 11B and the hole 11C above the central portion 11A.

[0039] The shaft 12 is a cylindrical member that moves relative to the arm 11 in the front-to-rear direction, and is supported by the arm 11 via a guide 11E. The guide 11E is attached to the upper side surface of the arm 11 and supports the shaft 12 so that it can move back and forth in the axial direction. As an example, the guide 11E may be configured to include a rolling guide device such as a linear bushing. The shaft 12 is arranged so that its central axis is parallel to the central axis of the rod 140, and moves back and forth parallel to the central axis of the rod 140. A spring connection portion 14 to which the spring 13 is connected is provided at the rear end of the shaft 12. Two holes 14A for attaching the spring 13 are formed in the spring connection portion 14. The holes 14A are formed on the right and left sides of the shaft 12, respectively.

[0040] A probe head 16 is attached to the front end of the shaft 12 via a connecting member 15. The probe head 16 is a device for inspecting the continuity of the receptor 23. An electrode 16A is provided at the front end of the probe head 16. One end of the wire 30 described above is connected to the electrode 16A, and inspection power is supplied from an inspection device 31. The shape and arrangement of the electrode 16A are not limited to the example shown in FIG. 2 and may be changed as appropriate depending on the embodiment. For example, the electrode 16A may be configured to extend continuously across multiple surfaces including the front end surface of the probe head 16. The mounting structure of the probe head 16 using the connecting member 15 will be described in detail later.

[0041] Spring 13 is a tension spring, one end of which is connected to spring connection portion 14 and the other end of which is connected to protrusion 11B. Of the two springs 13, one spring 13 is attached to hole 11C of protrusion 11B on the right side of arm 11 and hole 14A on the right side of spring connection portion 14, and the other spring 13 is attached to hole 11C of protrusion 11B on the left side of arm 11 and hole 14A on the left side of spring connection portion 14. In this case, the central axis of each spring 13 is arranged perpendicular to the central axis of shaft 12 and in the horizontal direction (i.e., the left-right direction) when no external force is applied to shaft 12.

[0042] According to the probe mechanism 10 configured as described above, it is possible to reduce the impact when the electrode 16A of the probe head 16 contacts the receptor 23 of the wind power generator 20. Even if the relative distance between the drone 1 and the receptor 23 changes after the electrode 16A comes into contact with the receptor 23, the contact state between the electrode 16A and the receptor 23 can be maintained.

[0043] (Probe head mounting structure) Here, the mounting structure of the probe head 16 on the shaft 12 will be described with reference to Figs. 4 to 8. Fig. 4 is a perspective view showing the mounting portion of the probe head 16 at the front end of the shaft 12. Fig. 5 is a cross-sectional view showing an example of the configuration of the connecting member 15. Fig. 6 is a cross-sectional view showing an example of the configuration of a support member 150 included in the connecting member 15. Fig. 7 is a diagram for explaining the amount of bending deformation of the connecting member 15. Fig. 8 is a diagram showing a state in which the connecting member 15 is bent upward to the maximum.

[0044] As described above, the probe head 16 is attached to the front end of the shaft 12 via the connecting member 15. In this embodiment, the connecting member 15 includes a support member 150 and a flexible member 151, as shown in FIGS.

[0045] The support member 150 is attached to the front end of the shaft 12 and supports the rear end portion of the flexible member 151. In this case, the support member 150 is configured so that a first contact surface 150A that comes into contact with an upper side surface of the rear end portion of the flexible member 151 in the support member 150 extends further forward than a second contact surface 150B that comes into contact with a lower side surface of the rear end portion of the flexible member 151 in the support member 150, as shown in Figures 5 and 6 .

[0046] The flexible member 151 is a member formed in a substantially square rod shape, and the rear end of the probe head 16 is fixed to the front end portion of the flexible member 151. The flexible member 151 in this embodiment is a flexible member that elastically bends and deforms in response to an external force applied from a direction perpendicular to the axial direction (front-rear direction) of the shaft 12, and restores to its original shape in response to the release of the external force. As an example, the flexible member 151 may be molded from polyurethane such as TPU.

[0047] The connecting member 15 configured as described above allows the flexible member 151 to bend both upward and downward, while making the amount of upward bending deformation of the flexible member 151 smaller than the amount of downward bending deformation of the flexible member 151. When the probe head 16 is attached to the shaft 12 using such a connecting member 15, as shown in Fig. 7, the amount of upward displacement of the front end of the probe head 16 when the connecting member 15 is bent upward to the maximum (A1 in Fig. 7) is smaller than the amount of downward displacement of the front end of the probe head 16 when the connecting member 15 is bent downward to the maximum (A2 in Fig. 7). This makes it possible to keep the maximum upward displacement of the probe head 16 when an external force directed from below to above smaller than the maximum downward displacement of the probe head 16 when an external force directed from above to below is applied to the probe head 16.

[0048] Therefore, in the connecting member 15 of this embodiment, the forward extension amount of the first contact surface 150A is determined so that the position of the tip of the probe head 16 when the flexible member 151 is bent and deformed upward to the maximum will be below the center of the angle of view of the camera 102 (the dashed dotted line C1 in FIG. 8) as shown in Fig. 8. In this case, the forward extension amount of the first contact surface 150A may be determined so that the deviation of the contact position of the probe head 16 when the flexible member 151 is bent and deformed upward due to a reaction force generated when the probe head 16 contacts the receptor 23 is minimized.

[0049] (Actions and Effects of the Embodiments) Here, the operation and effects of this embodiment will be described with reference to FIGS. In this embodiment, when inspecting the receptor 23 of the wind turbine generator 20, the drone 1 is flown so that the electrode 16A of the probe head 16 is in contact with the receptor 23. In one example, the user visually controls the drone 1 until the receptor 23 can be image-recognized by the camera 102. After the receptor 23 can be image-recognized by the camera 102, the drone 1 may fly autonomously based on the image captured by the camera 102 and the distance to the receptor 23 measured by the laser sensor 101. The control device 60 then controls the propulsion unit 111 while bringing the electrode 16A into contact with the receptor 23 so that the distance to the receptor 23 or the blade 22 measured by the laser sensor 101 is a predetermined distance. In this way, the electrode 16A is maintained in contact with the receptor 23, allowing the inspection device 31 to inspect the receptor 23.

[0050] While the drone 1 is flying, based on the image captured by the camera 102 and the distance to the receptor 23 measured by the laser sensor 101, external disturbances such as wind and air currents may act on the drone 1, causing the probe head 16 to slip below the blades 22 of the wind power generator 20, as illustrated in FIG. 9A. If such a situation occurs, the drone 1 is temporarily moved backward to reattempt contact between the electrode 16A and the receptor 23. Then, as illustrated in FIG. 9B, pitching occurs, in which the rear end of the drone 1 sinks downward and the front end of the drone 1 rises upward, causing the probe head 16 to come into contact with the blades 22. When the probe head 16 comes into contact with the blades 22, an external force pushing downward acts on the probe head 16, causing the flexible member 151 of the connecting member 15 to bend downward. This allows the impact and reaction force when the probe head 16 comes into contact with the blade 22 to be absorbed or attenuated by the bending deformation of the flexible member 151. As a result, the impact when the probe head 16 comes into contact with the blade 22 is prevented from affecting the function of the probe mechanism 10, the flight control of the drone 1, and the like.

[0051] Furthermore, the attitude of the drone 1 when the probe head 16 contacts the receptor 23 may change due to external disturbances such as wind and air currents. Therefore, depending on the attitude of the drone 1 when the probe head 16 contacts the receptor 23, an external force pushing upward may act on the probe head 16. When an upward force acts on the probe head 16, the flexible member 151 of the connecting member 15 is bent upward. As a result, the impact and reaction force when the probe head 16 contacts the blade 22 are absorbed or attenuated by the bending deformation of the flexible member 151. Furthermore, according to the connecting member 15 of this embodiment, as described above with reference to FIG. 8, the forward extension amount of the first contact surface 150A of the support member 150 is determined so that the position of the tip of the probe head 16 when the flexible member 151 is bent upward to the maximum is located below the center of the angle of view of the camera 102. This prevents the probe head 16 from being displaced to a position that blocks the receptor 23 from the camera 102, even if the flexible member 151 is bent and deformed upward by an external force to the maximum extent. As a result, it is possible to prevent the camera 102 from being unable to recognize the receptor 23 as an image due to the flexible member 151 being bent and deformed by an external force. Furthermore, if the forward extension amount of the first contact surface 150A is determined so as to minimize the deviation of the contact position of the probe head 16 when the flexible member 151 is bent and deformed upward by a reaction force generated when the probe head 16 contacts the receptor 23, the contact position of the probe head 16 is less likely to deviate from the position of the receptor 23, even if the flexible member 151 is bent and deformed upward by a reaction force generated when the probe head 16 contacts the receptor 23. This makes it easier to prevent the occurrence of a situation where it is necessary to retry contact between the probe head 16 and the receptor 23.

[0052] When the drone 1 flies toward the receptor 23 of the blade 22 facing upward, disturbances such as wind and air currents act on the drone 1, causing the drone 1 to fly upward. As shown in FIG. 8, a situation may occur in which the probe head 16 passes over the blade 22. If such a situation occurs, the drone 1 is temporarily moved backward to retry contact between the electrode 16A and the receptor 23. When the drone 1 starts to move backward, as illustrated in FIG. 10 (B), pitching occurs in which the rear end portion of the drone 1 sinks downward and the front end portion of the drone 1 rises upward. However, since the probe head 16 is displaced in a direction away from the blade 22, contact between the probe head 16 and the blade 22 is avoided. Therefore, as described above with reference to FIG. 8, even if the amount of bending deformation of the flexible member 151 in the upward direction is made smaller than the amount of bending deformation of the flexible member 151 in the downward direction, the function of the probe mechanism 10, flight control of the drone 1, and the like are prevented from being affected.

[0053] 11(A) and 11(B), even if an external force acts on the probe head 16 from the left or right direction, the flexible member 151 bends and deforms to the right or left, thereby absorbing or attenuating the impact and reaction force when the probe head 16 receives the external force from the left or right direction. In other words, even if the right or left side of the probe head 16 comes into contact with a structure such as the blade 22, the impact of the contact can be prevented from affecting the function of the probe mechanism 10, the flight control of the drone 1, and the like.

[0054] <Other embodiments> In the above-described embodiment, an example was described in which the amount of upward bending deformation of the flexible member 151 constituting the connecting member 15 was limited, but the direction in which the amount of bending deformation of the flexible member 151 is limited may be changed as appropriate depending on the relative positions of the camera 102 and the probe head 16.

[0055] Furthermore, in the above-described embodiment, the connecting member 15 is bent and deformed by utilizing the flexibility of the flexible member 151. However, a configuration in which the connecting member 15 is bent and deformed mechanically may also be employed. As an example, the rear end portion of the probe head 16 may be attached to the support member 150 in a rotatable form around an axis extending in the left-right direction, a stopper that changes the angle at which the probe head 16 can be rotated upward and downward may be provided on the support member 150, and a biasing means for maintaining the angle of the probe head 16 at a specific angle when no external force is applied may be attached to the support member 150. In this case, the biasing means may be, for example, a pair of compression springs whose biasing forces balance when the probe head 16 is at a specific angle, or a leaf spring formed so that the biasing force balances the weight of the probe head 16 when the probe head 16 is at a specific angle. In this case, the biasing means may be provided with a stopper that changes the amount of deformation depending on the direction of deformation of the probe head 16, so that the magnitude of the restoring force generated depending on the rotation angle varies depending on the rotation direction.

[0056] In addition, in the above-described embodiment, a drone 1 that inspects the lightning protection function of a wind turbine generator 20 was used as an example of an aircraft according to the present invention, but the present invention can also be applied to an aircraft equipped with an end effector other than the probe head 16. [Explanation of symbols]

[0057] 1. Drone, 10. Probe mechanism, 101. Laser sensor, 102. Camera, 11. Arm, 12. Shaft, 15. Connecting member, 150. Support member, 150A. First contact surface, 150B. Second contact surface, 151. Flexible member, 16. Probe head, 20. Wind turbine generator, 22. Blade, 23. Receptor

Claims

1. An end effector mounting structure attached to a tip end of a shaft extending forward of a flying object, a connecting member is provided which connects the tip end of the shaft and the end effector, the connecting member being a member which bends and deforms in a first direction perpendicular to an axial direction of the shaft and in a second direction opposite to the first direction in response to an external force and which returns to its original shape in response to being released from the external force; The connecting member is characterized in that the bending deformation amount in the first direction is smaller than the bending deformation amount in the second direction. End effector mounting structure.

2. The connecting member is a flexible member that is a generally rod-shaped member having flexibility and that can be elastically deformed and restored, the tip of which is connected to the end effector; a support member provided at the distal end of the shaft and supporting a proximal end of the flexible member; Including, The support member is characterized in that a first contact surface, which is a contact surface with a surface of the flexible member on the first direction side, is formed to extend toward the tip end of the flexible member more than a second contact surface, which is a contact surface with a surface of the flexible member on the second direction side. The end effector mounting structure according to claim 1 .

3. the aircraft is equipped with a camera that is positioned above the position of the end effector in the vertical direction of the aircraft; The first direction is an upward direction of the flying object, and the second direction is a downward direction of the flying object. The end effector mounting structure according to claim 2 .

4. an extension amount of the first contact surface toward the tip end of the flexible member is determined so that a position of the end effector in the up-down direction of the flying body when the connecting member is bent and deformed at a maximum in the first direction is lower than a center of an angle of view of the camera. The end effector mounting structure according to claim 3 .

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