Adhesion device and rotary-wing aircraft equipped with it
The adhesive device with a roller separation mechanism enables smooth attachment of sheets to curved surfaces by using a rotary-wing aircraft or mobile body, addressing the challenges of gaps and wrinkles on cylindrical tubes.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE & TECHNOLOGY
- Filing Date
- 2024-12-25
- Publication Date
- 2026-07-07
Smart Images
Figure 2026112740000001_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a technique for attaching a sheet.
Background Art
[0002] So far, various devices for attaching labels to objects have been devised. For example, Patent Document 1 discloses a device for attaching a label to a steel material in transit without stopping it.
[0003] Also, Non-Patent Document 1 and Non-Patent Document 2 disclose devices for attaching a sensing sheet to a wall surface using a drone having a plurality of rotating blades.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Non-Patent Documents
[0005]
Non-Patent Document 1
[0006]
Non-Patent Document 2
Summary of the Invention
Problems to be Solved by the Invention
[0007] However, since both the apparatus described in Patent Document 1 and Non-Patent Document 1 above are used to attach the labels or sensing sheets to a vertical plane, there is a problem in that the labels cannot be neatly attached to curved surfaces such as the surface of a cylindrical tube.
[0008] Furthermore, when attaching a sensing sheet to the surface of a cylindrical tube using the apparatus described in Non-Patent Document 2, there are problems such as gaps forming at the edges of the sheet or wrinkles forming if there are protrusions on the surface.
[0009] The present invention was made to solve these problems, and aims to provide an adhesive device that can neatly adhere sheets even to curved surfaces, and a rotary-wing aircraft equipped with the same. [Means for solving the problem]
[0010] To solve the above problems, the present invention provides an adhesive device for attaching a sheet to the surface of an object, comprising: a feed roller for unwinding a belt on which the sheet is placed; a recovery roller for winding up the belt unwinded from the feed roller; two pressing rollers for bringing the sheet unwinded from the feed roller into contact with the surface; and a roller separation means for separating the two pressing rollers that have contacted the sheet onto the surface.
[0011] Furthermore, in order to solve the above problems, the present invention provides a rotary-wing machine for attaching a sheet to a surface of an object, comprising a rotary-wing section and an attachment device attached to the rotary-wing section for attaching the sheet to the surface, wherein the attachment device includes a feed roller for unwinding the wound sheet, a recovery roller for winding up the sheet unwinded from the feed roller, two pressing rollers for bringing the sheet unwinded from the feed roller into contact with the surface, and a roller separation means for separating the two pressing rollers that have the sheet in contact with the surface on the surface. [Effects of the Invention]
[0012] According to the present invention, it is possible to provide an adhesive device that can neatly adhere a sheet even to a curved surface, and a rotary-wing aircraft equipped with the same. [Brief explanation of the drawing]
[0013] [Figure 1] This diagram shows the overall configuration of the adhesive drone 1 according to an embodiment of the present invention. [Figure 2] This figure shows the configuration of the adhesive device 3 shown in Figure 1. [Figure 3] Figure 2 is a perspective view showing the configuration of the head portion of the adhesive device 3. [Figure 4] This figure shows the attachment device 3, shown in Figure 2, in contact with the pipe P in order to attach the sensing sheet SS. [Figure 5] This diagram illustrates how to close the first and second arms 6 and 8 when they are open while the attachment device 3 is brought into contact with the pipe P, as shown in Figure 4. [Figure 6] Figure 4 is a diagram illustrating the operation of attaching the sensing sheet SS to the piping P using the attachment device 3 shown in Figure 4. [Figure 7] Figure 1 is the first diagram illustrating the approach method used when the attachment drone 1, shown in Figure 1, attaches the sensing sheet SS to the curved surface of the pipe P. [Figure 8] Figure 1 is shown in the second figure, illustrating the approach method used when the attachment drone 1 attaches the sensing sheet SS to the curved surface of the pipe P. [Figure 9] Figure 8 illustrates the operation of the attachment drone 1, shown in the diagram, in attaching the sensing sheet SS to the curved surface of the pipe P. [Figure 10] This diagram shows the configuration in which the attachment device 3 shown in Figure 2 is suspended from a mobile body 31 by wires W3 and W4 in order to attach a sensing sheet SS to the curved side surface of a cylindrical structure T such as an oil tank. [Figure 11] This figure illustrates the effect of tilting bucket B, as shown in Figure 10. [Figure 12] It is a diagram for explaining the pasting operation by the pasting device 3 shown in FIG. 10.
Embodiments for Carrying Out the Invention
[0014] Hereinafter, embodiments of the present invention will be described in detail while referring to the drawings. In the drawings, the same reference numerals indicate the same or corresponding parts.
[0015] FIG. 1 is a diagram showing the overall configuration of the pasting drone 1 according to an embodiment of the present invention. As shown in FIG. 1, the pasting drone 1 is a rotary wing aircraft for pasting the sensing sheet SS on the surface of an object, and includes a rotary wing portion 2 and a pasting device 3 mounted on the rotary wing portion 2 for pasting the sensing sheet SS on the surface.
[0016] Here, as shown in FIGS. 2 and 3, the pasting device 3 includes a feed roller 15 for feeding out the belt BL on which the sensing sheet SS is placed and wound, a recovery roller 16 for winding up the belt BL fed out from the feed roller 15, first and second pressing rollers 13, 14 for bringing the sensing sheet SS fed out from the feed roller 15 into contact with the surface, and a roller separation portion for separating the first and second pressing rollers 13, 14 in contact with the surface on the surface.
[0017] A strong double-sided tape is attached to the front surface of the sensing sheet SS, and a weaker double-sided tape is attached to the back surface. The back surfaces of the sensing sheets SS are attached to the front surface of the belt BL at equal intervals.
[0018] Also, both the first and second pressing rollers 13, 14 are rollers that can rotate freely. However, if the outer peripheral portion thereof is made of a soft material such as rubber or sponge, even if there is, for example, a small and gentle bulge on the surface of the object, the sensing sheet SS can be pasted in a state of being closely attached.
[0019] Furthermore, by making the surface of the belt BL a material to which tape can be applied, and the back surface a material such as silicone, polyethylene, polypropylene, or fluorine to which tape cannot be applied, it is possible to prevent the double-sided tape applied to the surface of the sensing sheet SS wrapped around the feed roller 15 from sticking to the back surface of the belt BL.
[0020] Furthermore, if the pipe P is made of a magnetic material, the sensing sheet SS can be attached to the pipe P by magnetic force by attaching a magnetic adhesive tape, which has a magnetic surface and an adhesive backing, to the surface of the sensing sheet SS, or by using a magnetic sheet with only the surface magnetized as the sensing sheet SS. In this case, the belt BL only needs to be made of a material that does not attract magnets, and the back of the belt BL does not need to be made of a material to which tape cannot be attached. In this case, the back of the sensing sheet SS is attached to the surface of the belt BL with double-sided tape with weak adhesive strength, as described above.
[0021] The roller separation section includes a first arm 6 that rotates around a first arm rotation axis 100 and has a first pressing roller 13 at its tip and a feed roller 15 in the middle; a second arm 8 that rotates around a second arm rotation axis 101 and has a second pressing roller 14 at its tip and a recovery roller 16 in the middle; a forward thruster 28 that moves the adhesive device 3 forward; first and second clutches 19 and 20 that, when in the ON state, rotate the first arm 6 and the second arm 8 only in the direction of opening to separate the first and second pressing rollers 13 and 14; and first and second springs 5 and 7 that apply force in the direction of closing the opened first arm 6 and second arm 8 to bring the first and second pressing rollers 13 and 14 closer together.
[0022] Here, the first clutch 19 is provided on the first arm 6, and when the rotation limit switch 102 corresponding to the first clutch 19 is turned on, the first arm 6 rotates only in the opening direction, and when it is turned off, the first arm 6 rotates freely. Similarly, the second clutch 20 is provided on the second arm 8, and when the rotation limit switch 103 corresponding to the second clutch 20 is turned on, the second arm 8 rotates only in the opening direction, and when it is turned off, the second arm 8 rotates freely.
[0023] Furthermore, the adhesive device 3 includes a base plate 4 on which first and second arms 6 and 8 are provided, a pitch rotation axis 21 arranged parallel to the first arm rotation axis 100 and the second arm rotation axis 101 and rotating the base plate 4 around its axis, and a roll rotation axis 22 arranged in a direction perpendicular to both the direction that separates the first and second pressing rollers 13 and 14 (up and down direction in the figure; the same applies hereinafter) and the direction of the pitch rotation axis 21 and rotating the pitch rotation axis 21 around its axis.
[0024] In addition to the rotation limiting switches 102 and 103 mentioned above, stoppers 17 and 18 are provided on the base plate 4 to restrict the operation that would cause the first and second pressing rollers 13 and 14 to collide when the first and second arms 6 and 8 close. Furthermore, the first spring 5 is provided between the base plate 4 and the first arm 6, and the second spring 7 is provided between the base plate 4 and the second arm 8.
[0025] Furthermore, the attachment drone 1 is connected to the base plate 4 via a gimbal mechanism that allows the pitch rotation axis 21 and the roll rotation axis 22 to rotate freely, and is equipped with a boom 23 mounted on the rotor blade section 2 so as to be rotatable around a rotation axis perpendicular to both the roll rotation axis 22 and the propeller rotation axis of the rotor blade section 2, a boom rotation section 30 that rotates the boom 23 relative to the rotor blade section 2, a position adjuster 25 that balances the base plate 4 with a weight 24 to maintain horizontality with respect to the roll and pitch rotation directions, and adjusts and fixes the position of the weight 24 so that the midpoint of the line segment connecting the centers of the first and second pressing rollers 13 and 14 and the boom 23 are aligned in a straight line when the boom 23 is held at a desired inclination, regardless of the angle with respect to the rotor blade section 2, and is further equipped with forward and backward thrusters 28 and 29 attached to the boom 23 for moving the first and second arms 6 and 8 back and forth toward the surface of the object.
[0026] Furthermore, it is preferable to provide dampers on the pitch rotation axis 21 and the roll rotation axis 22 to prevent the base plate 4 from swinging like a pendulum. Alternatively, the rotation around the pitch rotation axis 21 may be controlled by frictional force from a brake or friction regulator (not shown; the same applies hereafter) to suppress free rotation and maintain the desired posture.
[0027] The system also includes a first pulley 9 fixed to the rotation axis of the feed roller 15, a first wire W1 whose one end is fixed to the first pulley 9 and wound around the first pulley 9, which is then wound around a first idler 11 that rotates freely around the first arm rotation axis 100 and extended into the hollow boom 23, a second pulley 10 fixed to the rotation axis of the retrieval roller 16, a second wire W2 whose one end is fixed to the second pulley 10 and wound around the second pulley 10, which is then wound around a second idler 12 that rotates freely around the second arm rotation axis 101 and extended into the hollow boom 23, a first motor 26 provided on the boom 23 with the other end of the first wire W1 wound around it, and a second motor 27 provided on the boom 23 with the other end of the second wire W2 wound around it.
[0028] Furthermore, the first and second motors 26 and 27, and the forward and reverse thrusters 28 and 29, serve as counterbalancing forces on the boom 23 against the weight of the base plate 4 and the first and second arms 6 and 8.
[0029] The following describes the operation by which the attachment drone 1, having the above configuration, attaches the sensing sheet SS to the curved surface of the pipe P.
[0030] First, the first motor 26 is rotated to unwind the first wire W1, and simultaneously the second motor 27 is rotated to wind up the second wire W2, thereby winding the belt BL unwound from the feed roller 15 onto the recovery roller 16. This action also moves the sensing sheets SS attached at equal intervals on the belt BL along with the belt BL. As a result, after one sensing sheet SS has been attached, the belt BL is moved by rotating the feed roller 15 and the recovery roller 16 in the same direction, and the next sensing sheet SS is set in a position where the first and second pressing rollers 13 and 14 contact the surface.
[0031] Then, as shown in Figure 4, the attachment drone 1 is moved to the attachment location on the pipe P, for example, and the sensing sheet SS is pressed against that location via the first and second pressing rollers 13 and 14 provided at the tips of the first and second arms 6 and 8, respectively. At this time, the pitch rotation axis 21 rotates freely in the direction of arrow AR1, so that the first and second pressing rollers 13 and 14 and the sensing sheet SS fit appropriately to the surface. Note that in Figure 4, arrow AR1 indicates the direction of rotation of the pitch rotation axis 21.
[0032] Here, we will explain, with reference to Figure 5, how to close the first and second arms 6 and 8 when they are open when the attachment device 3 is brought into contact with the pipe P, as shown in Figure 4.
[0033] As shown in Figure 5, when the rotation limit switches 102 and 103 are turned off (released), the first and second arms 6 and 8 close due to the restoring force of the first and second springs 5 and 7. At this time, if the first and second motors 26 and 27 are torque-controlled, the belt BL is wound onto the feed roller 15 and the recovery roller 16 while the belt BL is taut. Then, when the first and second arms 6 and 8 reach the desired opening angle, the rotation limit switches 102 and 103 are turned on, allowing the first and second arms 6 and 8 to be held at the desired opening angle as shown in Figure 4.
[0034] Alternatively, the sensing sheet SS may be attached to the piping P while maintaining constant tension by torque control of the first and second motors 26 and 27 as described above. If the tension fluctuates, it is preferable to control the position of one motor to hold the arm at a desired opening angle and to control the torque of the other motor.
[0035] Next, when the forward thruster 28 generates thrust so that the first and second pressing rollers 13 and 14 move toward the surface, the first and second arms 6 and 8 open, as shown in Figure 6, and the first and second pressing rollers 13 and 14 rotate along the surface of the pipe P and move apart from each other. More specifically, by torque control of the first and second motors 26 and 27, a weak torque in the winding direction is applied to the feed roller 15 and the recovery roller 16, and at the same time, the thrust of the forward thruster 28 causes the first and second pressing rollers 13 and 14 to come into contact with the flat wall or curved surface and push in, resulting in the opening of the first and second arms 6 and 8. At this time, the weak torque from the first and second motors 26 and 27 is overcome by the torque that opens the first and second arms 6 and 8 in the feed roller 15 and the recovery roller 16, and the belt BL is passively fed out from both the feed roller 15 and the recovery roller 16, causing the first and second pressing rollers 13 and 14 to move apart.
[0036] Through the above procedure, the sensing sheet SS can be attached to the curved surface of the pipe P without trapping any air bubbles.
[0037] After one sensing sheet SS is attached to the desired location, the second thruster 29 generates thrust to move the first and second pressing rollers 13 and 14 away from that surface.
[0038] Figures 7 and 8 illustrate the approach method used when the attachment drone 1 shown in Figure 1 attaches the sensing sheet SS to the curved surface of the pipe P. The approach method described above will be explained below using these figures.
[0039] As shown in Figure 7, the application drone 1 approaches the pipe P to be applied to by moving in the direction of arrow AR2, i.e., horizontally in the figure, with the boom 23 held horizontally relative to the rotor blade 2.
[0040] On the other hand, depending on environmental conditions such as the location of application and the presence of obstacles, the application drone 1 may need to approach the pipe P from an oblique direction other than the horizontal direction described above. In such cases, as shown in Figure 8, the boom rotation unit 30 rotates and fixes the boom 23 relative to the rotor unit 2 so that the midpoint of the line segment connecting the centers of the first and second pressing rollers 13 and 14 lies on a straight line, regardless of the angle between the boom 23 and the rotor unit 2. Then, in this state, the forward thruster 28 is driven so that the application drone 1 moves in the direction of the center of the pipe P indicated by arrow AR3.
[0041] Furthermore, since the adhesive device 3 has a mechanism in which the pitch rotation axis 21 and the roll rotation axis 22 can rotate freely, even if the contact position of the adhesive device 3 with respect to the pipe P is shifted from the initial target point due to, for example, the direction of travel of the adhesive drone 1 not being directed toward the center point of the pipe P, the pitch angle of the head part of the adhesive device 3 will rotate to compensate for the error caused by the above shift, so that the center line of the head part is directed toward the center point of the pipe P, and the adhesive operation will continue.
[0042] At this time, the position of the weight 24 is adjusted by the position adjuster 25 so that the long side of the base plate 4 is parallel to the boom 23, but the rotation of the pitch rotation axis 21 may be suppressed by a brake or friction adjuster or the like.
[0043] Furthermore, since the approach to the piping P is generally planned in advance along with the flight path of the attachment drone 1, the direction of the approach and the angle of the boom 23 relative to the rotor blade 2 are determined in advance. This allows the position of the weight 24 to be adjusted in advance according to the tilt of the boom 23.
[0044] Furthermore, while the attachment drone 1 is normally controlled to maintain a horizontal position, the aircraft may sway around the pitch rotation axis 21 and roll rotation axis 22 due to wind or other factors. Even in such cases, as described above, a gimbal mechanism is employed that connects the base plate 4 and the boom 23 and allows the pitch rotation axis 21 and roll rotation axis 22 to rotate freely, thus maintaining a constant attitude of the base plate 4.
[0045] By the way, even if the sensing sheet SS is long enough to wrap around the surface of the pipe P, for example, it can be attached using the following approach.
[0046] As shown in Figure 9, the first and second pressing rollers 13 and 14 press the sensing sheet SS on the belt BL against the surface using the thrust of the forward thruster 28, while the belt BL is sequentially unwound from the feed roller 15 and wound up by the recovery roller 16, thereby allowing the belt BL to function as the tracks of a crawler. As a result, the first and second pressing rollers 13 and 14 crawl along the curved surface, and the attachment drone 1 hovers from the position of attachment drone 1a, where the boom 23 is perpendicular to the curved surface, to the position of attachment drone 1b, as indicated by the arrow, thereby continuously attaching the sensing sheet SS to the curved surface of the piping P.
[0047] In the above explanation, we used the example of a case where the pipe P is installed horizontally. However, even for vertically installed vertical pipes, by tilting the base plate 4 90 degrees around the roll rotation axis 22 and further rotating the position adjuster 25 minus 90 degrees around the roll rotation axis 22 to make it hang vertically and then fixing it in place, the axial directions of the first and second pressing rollers 13 and 14 of the attachment device 3 are maintained in the vertical direction, so it goes without saying that the sensing sheet SS can be attached in the curved direction of the pipe.
[0048] According to the application device 3 of the embodiment of the present invention described above, the first and second pressing rollers 13 and 14 rotate on the surface so that they are separated from each other while pressing the sensing sheet SS against the surface. Therefore, even if the surface is not only flat but also curved, the sensing sheet SS can be neatly applied to the surface without manual intervention and without introducing air bubbles between the surface and the rollers.
[0049] Furthermore, the attachment device 3 can neatly attach sheets other than the sensing sheet SS, which is thin, easily torn, and soft like paper, in the same way as the sensing sheet SS.
[0050] Furthermore, according to the above-described embodiment of the present invention, the attaching drone 1 can sequentially attach the sensing sheets SS wound around the feed roller 15, so that multiple sensing sheets SS can be attached to the surface in a single flight.
[0051] In the above embodiment, the example given was that the adhesive device 3 is attached to the rotor blade section 2 of the adhesive drone 1. However, such an adhesive device 3 can also be used in combination with a self-propelled mobile body, for example, on the ground or inside a plant where explosion-proofing is required.
[0052] Figure 10 shows the configuration in which the attachment device 3 shown in Figure 2 is suspended from a mobile body 31 by wires W3 and W4 in order to attach a sensing sheet SS to the curved side surface of a cylindrical structure T such as an oil tank.
[0053] Furthermore, the lengths of the wires W3 and W4 unwound from the first and second reels R1 and R2 are the same, and the distance between the first and second reels R1 and R2 is the same as the distance between the connection points CP1 and CP2 where the wires W3 and W4 connect to the attachment device 3.
[0054] As shown in Figure 10, if the curved surface is curved horizontally, the correspondence is the same as that for vertical piping as described in paragraph
[0046] . In this case, by rotating the base plate 4 90 degrees around the roll rotation axis 22 as described in paragraph
[0047] for the adhesive device 3 in the state shown in Figure 2, the (thrust) direction of the rotation axis AP of the first and second pressing rollers 13 and 14 of the adhesive device 3 coincides with the direction of the central axis AT of the cylindrical structure T, so that the sensing sheet SS can be attached in the circumferential direction (curving direction) of the cylinder. If the head of the adhesive device 3 cannot maintain a horizontal position, the weight 24 can be adjusted by translating or rotating it with the position adjuster 25.
[0055] As shown in Figure 10, if the central axis AT of the cylindrical structure T is vertical, it is sufficient to keep the line passing through the first reel R1 and the second reel R2 horizontal. However, as shown in Figure 11, if the central axis AT of the cylindrical structure T is inclined (from the vertical), by rotating the bucket B in the direction of arrow AR4 shown in the same figure so that the line AB passing through the first reel R1 and the second reel R2 is perpendicular to the direction of the central axis AT of the cylindrical structure T, the rotation axes AP of the first and second pressing rollers 13 and 14 will become parallel to the central axis AT of the cylindrical structure T, and the sensing sheet SS can be neatly attached. Note that arrow AR5 shown in Figure 11 indicates the direction of travel of the attachment device 3.
[0056] Figure 12 is a diagram illustrating the attachment operation by the attachment device 3 shown in Figure 10. As shown in Figure 12, the moving body 31 vibrates the bucket B, whose lower surface is horizontal, in the horizontal direction indicated by the arrow in the figure, and swings the attachment device 3 while maintaining its horizontal position using a parallel link mechanism including wires W3 and W4. In other words, the sensing sheet SS can be brought into contact with the curved surface while being held in a vertical position, similar to striking a temple bell.
[0057] With this attachment method, the sensing sheet SS can be attached even to an attachment device 3 that does not have a thruster on the boom 23. Furthermore, even if the provided thruster does not provide sufficient thrust to attach the sensing sheet SS, the sensing sheet SS can be attached by applying a greater force by increasing the swing width and causing the sensing sheet SS to collide with the curved surface. [Explanation of Symbols]
[0058] 1. Attachment drone, 2. Rotary wing section, 3. Attachment device, 4. Base plate, 5. First spring, 6. First arm, 7. Second spring, 8. Second arm, 9. First pulley, 10. Second pulley, 11. First idler, 12. Second idler, 13. First press roller, 14. Second press roller, 15. Feed roller, 16. Recovery roller, 19. First clutch, 20. Second clutch, 21. Pitch rotation axis, 22. Roll rotation axis, 23. Boom, 24. Weight, 25. Position adjuster, 26. First motor, 27. Second motor, 28. Forward thruster, 29. Reverse thruster, 30. Boom rotation section, W1. First wire, W2. Second wire, 100. First arm rotation axis, 101. Second arm rotation axis, 102, 103. Rotation limit switch.
Claims
1. An adhesive device for attaching a sheet to the surface of an object, A feed roller that unwinds the belt on which the aforementioned sheet is placed, A recovery roller that winds up the belt unwound from the feed roller, Two pressing rollers that bring the sheet fed out from the feed roller into contact with the surface, An adhesive device comprising a roller separation means for separating the two pressing rollers that are in contact with the surface of the sheet on the surface.
2. The aforementioned roller separation means is One of the aforementioned pressing rollers is provided at the tip, and a first arm rotates around a first rotation axis, The other pressing roller is provided at the tip of the second arm which rotates around the second rotation axis, The means includes a thrusting mechanism for advancing the aforementioned attachment device. The adhesive device according to claim 1.
3. The aforementioned roller separation means is A clutch that rotates the first arm and the second arm only in the direction that opens the two pressing rollers apart, The adhesive device according to claim 2, further comprising an elastic body that applies force in a direction to close the opened first arm and the second arm so that the two pressing rollers are brought closer together.
4. A base plate on which the first and second arms are provided, A pitch rotation axis is arranged parallel to the first and second rotation axes and rotates the base plate around its axis, The adhesive device according to claim 2, further comprising a roll rotation axis arranged in a direction perpendicular to both the direction that separates the two pressing rollers and the direction of the pitch rotation axis, and which rotates the pitch rotation axis around its axis.
5. A rotary-wing machine for attaching a sheet to the surface of an object, Rotary blade section, The device is attached to the rotor blade and includes an attachment device for attaching the sheet to the surface thereof. The aforementioned adhesive device is A feed roller that unwinds the belt on which the aforementioned sheet is placed, A recovery roller that winds up the belt unwound from the feed roller, Two pressing rollers that bring the sheet fed out from the feed roller into contact with the surface, A rotary-wing machine including a roller separation means for separating the two pressing rollers, which have the sheet in contact with the surface, on the surface.
6. The aforementioned roller separation means is One of the aforementioned pressing rollers is provided at the tip, and a first arm rotates around a first rotation axis, The other pressing roller is provided at the tip of the second arm which rotates around the second rotation axis, The means includes a thrusting mechanism for advancing the aforementioned attachment device. The rotary-wing aircraft according to claim 5.
7. The aforementioned roller separation means is A clutch that rotates the first arm and the second arm only in the direction that opens the two pressing rollers apart, The rotary-wing machine according to claim 6, further comprising an elastic body that applies force in a direction to close the opened first arm and the second arm so that the two pressing rollers are brought closer together.
8. A base plate on which the first and second arms are provided, A pitch rotation axis is arranged parallel to the first and second rotation axes and rotates the base plate around its axis, The system further includes a roll rotation axis that is arranged in a direction perpendicular to both the direction that separates the two pressing rollers and the direction of the pitch rotation axis, and rotates the pitch rotation axis around its axis. The rotary-wing aircraft according to claim 6.
9. A boom is attached to the rotor blade section in a manner that allows it to rotate around a rotation axis perpendicular to both the roll rotation axis and the propeller rotation axis of the rotor blade section, A boom rotating means for rotating the boom relative to the rotor blade section, A balancing means for adjusting and fixing the position of a weight so that the midpoint of the line segment connecting the centers of the two pressing rollers and the boom are aligned in a straight line, regardless of the angle between the boom and the boom. The rotary-wing machine according to claim 8, further comprising thrust means attached to the boom for moving the two pressing rollers back and forth toward the surface.
10. A first pulley fixed to the rotating shaft of the feed roller, One end of the first wire is fixed to the first pulley and wrapped around the first pulley, and the first wire extends into the boom, A second pulley fixed to the rotating shaft of the aforementioned recovery roller, One end of the second wire is fixed to the second pulley and wrapped around the second pulley, and the second wire extends into the boom, A first motor is provided on the boom and the other end of the first wire is wound around it, The rotary-wing aircraft according to claim 9, further comprising a second motor provided on the boom and with the other end of the second wire wrapped around it.