Flight robot and support mechanism for flight robot

Abstract

Provided is a flight robot comprising at least two support parts 10, 73 that each protrude in a prescribed direction from a propulsion unit 3, wherein: the at least two support parts 10, 73 include a first support part 10 and a second support part 73 which is disposed below the first support part 10; and the first support part 10 includes an arm part 17 having a distal end in the prescribed direction which moves in a direction away from the second support part 73 when the distal end receives a force in a direction opposite to the prescribed direction, and an elastic body 82 which biases the distal end toward the second support part and which applies a bias force that increases according to the magnitude of the force in the opposite direction.

Description

Flying robot and support mechanism for flying robot

[0007] ,

[0006] ,

[0001] The present invention relates to a flying robot and a support mechanism for a flying robot.

[0002] In recent years, unmanned aerial vehicles have been used for various purposes and their development has been actively carried out. As unmanned aerial vehicles, radio-controlled unmanned helicopters and so-called drones are used. Here, a technique of attaching an arm to an unmanned aerial vehicle to perform various operations is known (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2017-193331

[0004] Operations such as inspection and repair at high places have hitherto been carried out manually using scaffolding installation and rope work. However, the installation of scaffolding takes a long time and costs a lot of money, and rope work requires skilled workers, and both have problems such as being dangerous and difficult operations. As a new approach to this, the use of drones has been rapidly progressing, but it is mainly used for diagnosis using the captured images, and inspections and repair operations involving contact such as impact sound inspection are still largely carried out manually.

[0005] There is also a technique of performing inspection while maintaining contact with a wall surface using a dedicated drone, but there is a risk that the flight performance may deteriorate by mounting power separately from flight for contact. In addition, since the contact angle between the object and the aircraft is mechanically fixed according to the work content, there is a risk that it cannot cope with other operations with different required force magnitudes. In addition, many are configured such that the mechanism for contact with the drone cannot be separated, and when used in combination with inspection by a conventional drone, it is necessary to possess and operate a plurality of aircraft, so there is also a risk that the total cost will increase.

[0006] In addition, since the control system of the drone is not premised on being restricted by physical contact, when a deviation occurs between the target value and the actual value of the attitude control due to the drone contacting the object and this state continues, the attitude control may be prioritized and the altitude may suddenly drop, showing unexpected behavior.

[0007] This invention has been made in view of the various circumstances described above, and its purpose is to enable a flying robot to maintain a stable contact with an object.

[0008] One aspect of the present invention is a flying robot having at least two support parts that protrude in a predetermined direction from a propulsion part, wherein the at least two support parts include a first support part and a second support part located below the first support part, and the first support part has an arm part that moves away from the second support part when the tip of the tip in the predetermined direction receives a force in the opposite direction to the predetermined direction, and an elastic body that biases the tip towards the second support part, the biasing force of the elastic body increasing in proportion to the magnitude of the force in the opposite direction.

[0009] Furthermore, one aspect of the present invention is a support mechanism for a flying robot, which is one of at least two support parts that protrude in a predetermined direction from the propulsion part of the flying robot, and comprises an arm part that moves the tip part upward in the vertical direction when it receives a force in the opposite direction to the predetermined direction, and an elastic body that biases the tip part downward in the vertical direction, wherein the biasing force of the elastic body increases in proportion to the magnitude of the force in the opposite direction.

[0010] According to the present invention, the flying robot can maintain a stable contact state with the object.

[0011] This figure shows an example of the schematic configuration of a flying robot equipped with a support mechanism according to the first embodiment. This figure shows an example of the schematic configuration of the flying robot according to the first embodiment when viewed from the front side in the Y-axis direction. This figure shows an example of the schematic configuration of the flying robot according to the first embodiment when viewed from the right side in the X-axis direction. This figure shows an example of the schematic configuration of the flying robot according to the first embodiment when viewed from above in the Z-axis direction. This figure shows an example of the state when the flying robot according to the first embodiment is in contact with an object, as viewed from the right side in the X-axis direction. This figure shows an example of the case when the flying robot moves further toward the object from the state shown in Figure 5. This figure shows an example of the force applied to the flying robot when the flying robot according to the first embodiment is in contact with an object. This figure shows an example of the schematic configuration of a flying robot equipped with a support mechanism according to the second embodiment. This figure shows an example of a cross-section of the support mechanism according to the second embodiment. This figure shows an example of the state when the flying robot 1 according to the second embodiment is in contact with an object, as viewed from the right side in the X-axis direction.

[0012] One aspect of the present invention is a flying robot comprising at least two support parts that protrude in a predetermined direction from the propulsion unit. The propulsion unit generates thrust, for example, by driving a propeller. The at least two support parts are members that come into contact with an object when the flying robot comes into contact with the object. The predetermined direction may be the direction in which the flying robot moves, or it may be the direction in which the object is located. By having at least two support parts protrude in a predetermined direction from the propulsion unit, at least two support parts come into contact with the object when the flying robot comes into contact with the object. The at least two support parts include a first support part and a second support part that is positioned below the first support part. That is, the first support part and the second support part are positioned offset vertically from each other.

[0013] The first support has an arm portion that, when the tip of the arm receives a force in the opposite direction to the predetermined direction, moves in a direction away from the second support. The force in the opposite direction to the predetermined direction is at least a portion of the reaction force received from the object it is in contact with. The direction in which the tip moves away from the second support is, for example, upward in the vertical direction. When the first support receives a force in the opposite direction to the predetermined direction, the distance between the first support and the second support increases. As a result, the tip of the arm portion moves upward in the vertical direction. This allows the flying robot to move further in the predetermined direction. At this time, the tip of the arm portion may move over the object.

[0014] Furthermore, the first support portion is an elastic body that biases the tip portion toward the second support portion, and the biasing force increases in proportion to the magnitude of the force in the opposite direction. The elastic body is, for example, a spring, rubber, or resin. "The direction toward the tip portion toward the second support portion" is, for example, downward in the vertical direction. After the tip portion of the arm portion has come into contact with the object, if the flying robot attempts to move further toward the object, the force applied to the tip portion of the arm portion in the opposite direction to the predetermined direction becomes larger, and at the same time, the biasing force of the elastic body also increases. Then, even if the thrust force of the propulsion unit is changed while the first and second support portions are in contact with the object, the biasing force of the elastic body can maintain the state in which the first support portion is in contact with the object. Therefore, since the contact state between the first and second support portions and the object can be maintained, the attitude of the flying robot can be stabilized.

[0015] The first support portion may be equipped with a roller at the tip of the arm portion that rotates about a central axis that is perpendicular to the predetermined direction and arranged horizontally. If the arm portion is in contact with the object via such a roller, the roller rotates when the tip of the arm portion moves away from the second support portion and when the tip of the arm portion moves towards the second support portion, thereby allowing it to move smoothly across the surface of the object.

[0016] Furthermore, the second support portion may be located outside the propeller of the propulsion unit in the predetermined direction. In this case, the second support portion can protect the propeller. That is, since the second support portion contacts the object before the propeller contacts the object, contact between the propeller and the object can be suppressed. Note that the second support portion may be at least part of the propeller guard.

[0017] Furthermore, the arm portion may be positioned above the center of gravity of the flying robot. Here, the flying robot approaches the object in a forward-leaning posture. Then, if the thrust of the propulsion portion is further increased after the support portion has made contact with the object, a force is applied to the flying robot that causes it to fall toward the object. At this time, if the arm portion is positioned above the center of gravity of the flying robot, the arm portion can resist the force that causes it to fall toward the object. Therefore, it is possible to suppress the flying robot from falling toward the object.

[0018] Furthermore, when the tip of the arm receives a force in the opposite direction to the predetermined direction, the tip rotates away from the second support around the axis of rotation, and the elastic body may be biased so that the tip rotates towards the second support around the axis of rotation. The axis of rotation when the arm rotates may be a joint of a link mechanism. The arm may also rotate around the axis of rotation via a link mechanism. When a force in the opposite direction to the predetermined direction is received, the arm rotates around the axis of rotation, allowing the tip of the arm to move on the surface of the object.

[0019] Furthermore, multiple propulsion units are provided on the main body, and each of the multiple propulsion units is equipped with a propeller, and the angle of the rotation axis of the propeller with respect to the main body may be fixed. When the angle of the rotation axis of the propeller with respect to the main body is fixed, the flying robot can be tilted by creating a difference in the thrust force generated by the multiple propellers. The flying robot then moves in the direction of the tilt. If the flying robot comes into contact with an object while tilted in this way, the tilt of the flying robot will increase, and there is a risk of crashing. Even with a flying robot that moves in this manner, the first support part and the second support part support the flying robot, which can suppress the tilt of the flying robot from becoming too large.

[0020] The embodiments for carrying out the present invention will be described below with reference to the drawings. However, unless otherwise specified, the dimensions, materials, shapes, and relative arrangements of the components described in this embodiment are not intended to limit the scope of this invention to those specific components. Furthermore, the following embodiments can be combined as much as possible.

[0021] <First Embodiment> Figure 1 is a diagram showing an example of the schematic configuration of a flying robot 1 equipped with a support mechanism 10 according to the first embodiment. The support mechanism 10 according to the first embodiment is the part that contacts the object when the flying robot 1 is made to contact the object in a forward-leaning posture.

[0022] The flying robot 1 is composed of a main body 2. The main body 2 has multiple propulsion units 3. In the example shown in Figure 1, four propulsion units 3 are mounted on the main body 2, but the number of propulsion units 3 is not limited to four, as long as the main body 2 is able to fly. Each propulsion unit 3 has a propeller 31, which is a rotating wing, and a flight actuator 32 for rotating it. The angle of the rotation axis of the propeller 31 relative to the main body 2 is fixed. Such a flying robot 1 approaches an object in a forward-leaning posture. In each propulsion unit 3 mounted on the main body 2, the flight actuator 32 can be controlled independently. Therefore, it is possible to appropriately control the thrust force obtained by each propulsion unit 3, thereby appropriately controlling the flight posture and flight speed of the main body 2 and the flying robot 1. Note that the propulsion unit 3 is just one example of a propulsion unit.

[0023] In the main body 2, the body 4 is located roughly in the center, and the propulsion units 3 are provided at the ends of the body 4, radiating outwards via bridges 5. The four propulsion units 3 are arranged at equal intervals around the circumference of the body 4. Adjacent propulsion units 3 are connected via reinforcing bridges 51. These four reinforcing bridges 51 form a rectangle. Near each of the propulsion units 3 on each bridge 5, there are connecting legs 6 that support the main body 2 during landing. Some of the bridges 5 are also equipped with batteries to supply power to the flight actuators 32 of each propulsion unit 3.

[0024] In the following, the direction of the thrust force of the propulsion unit 3 when the flying robot 1 is stationary in the air, i.e., the direction toward the top of Figure 1, will be referred to as the upward direction in the vertical direction, and the direction opposite to the thrust force, i.e., the direction toward the bottom of Figure 1, will be referred to as the downward direction in the vertical direction. The downward direction is the same as the direction of gravity. Furthermore, in the following explanation, an XYZ Cartesian coordinate system will be set up, and the position of each component will be explained while referring to this XYZ Cartesian coordinate system. The vertical direction of the flying robot 1 will be the Z-axis direction, the direction facing the front of the flying robot 1 will be the Y-axis direction, and the direction perpendicular to the Y-axis and Z-axis directions will be the X-axis direction. Note that the front of the flying robot 1 is the lower left side in Figure 1, and is the direction in which the flying robot 1 moves when flying towards an object. The X-axis direction is also the left-right direction of the flying robot 1. The XY plane is the horizontal plane. Furthermore, the right side when viewed from the front of the flying robot 1 will be referred to as the right side in the X-axis direction, and the left side when viewed from the front of the flying robot 1 will be referred to as the left side in the X-axis direction. Furthermore, when viewed from the front of the flying robot 1, the front side is defined as the near side in the Y-axis direction, and the opposite side in the Y-axis direction is defined as the far side. Note that the near side in the Y-axis direction is just one example of a predetermined direction.

[0025] Figure 2 shows an example of the schematic configuration of the flying robot 1 according to the first embodiment when viewed from the front side in the Y-axis direction. Figure 3 shows an example of the schematic configuration of the flying robot 1 according to the first embodiment when viewed from the right side in the X-axis direction. Figure 4 shows an example of the schematic configuration of the flying robot 1 according to the first embodiment when viewed from above in the Z-axis direction. The state shown in Figures 1 to 4 is considered the reference state of the first embodiment. The reference state is, for example, the state when the flying robot 1 is hovering and the flying robot 1 is not tilted. Alternatively, the reference state may be a state in which the four flight actuators 32 are at the same height, or a state in which the bridge 5 or body 4 is horizontal.

[0026] A propeller guard 7 is positioned at the frontmost point of the flying robot 1 in the Y-axis direction. The propeller guard 7 consists of two guard sections 71 bent along the propellers 31, on the extensions of the two bridges 5 that extend forward in the Y-axis direction and outside the range of rotation of each of the two propellers 31; a connecting section 72 that connects the two guard sections 71; and contact sections 73 positioned at the left and right ends of the connecting section 72, which are parts that come into contact with the object. The guard sections 71 are fixed to the bridges 5. The connecting section 72 is a rod-shaped member positioned in the X-axis direction. The contact section 73 is positioned at the frontmost point of the propeller guard 7 and can also suppress the propellers 31 from coming into contact with the object when the flying robot 1 is flying towards the object in a forward-leaning posture in the Y-axis direction. Note that the contact section 73 is not necessarily required, and the guard section 71 or the connecting section 72 may be configured to come into contact with the object. The contact portion 73 is an example of a second support portion.

[0027] A support mechanism 10 is positioned on the upper part of the body 4. The support mechanism 10 is an example of a first support part. The support mechanism 10 has a front support part 11 and a rear support part 12. The front support part 11 is positioned in front of the rear support part 12 in the Y-axis direction. One end of the front support part 11 is fixed to the upper surface of the body 4, and the other end is connected to the other end of the first link 14 via a first joint 13. The first joint 13 has its central axis positioned in the X-axis direction and supports the first link 14 so that it can rotate relative to the front support part 11. The first joint 13 is an example of a rotation axis. The first link 14 is composed of two parallel shafts 141 positioned offset in the X-axis direction, and a connecting member 142 that fixes the two shafts 141 and is rotatably connected to the first joint 13. In the reference state, the two shafts 141 extend upward in the Z-axis direction. The rear support portion 12 is fixed at one end to the upper surface of the body 4, and its other end is connected to one end of the second link 16 via a second joint 15. The second joint 15 has its central axis positioned in the X-axis direction and supports the second link 16 so that it can rotate relative to the rear support portion 12. The second link 16 is composed of a single shaft 161 that extends inclined toward the front side in the Y-axis direction and toward the upper side in the Z-axis direction in the reference state. The shaft 161 of the second link 16 is positioned to pass between the two shafts 141 of the first link 14.

[0028] The other end of the first link 14 is fixed to one end of the arm portion 17. The arm portion 17 is positioned in the Y-axis direction in the reference state. The arm portion 17 extends from the first link 14 toward the front in the Y-axis direction. The arm portion 17 is also positioned above the center of gravity of the flying robot 1. The two shafts 141 of the first link 14 and the arm portion 17 are fixed together by a fixing portion 143. A track portion 181 of the linear motion guide device 18 is provided parallel to the arm portion 17. Both ends of the track portion 181 are fixed to the arm portion 17. The linear motion guide device 18 is further equipped with a movable portion 182 that moves along the track portion 181. The other end of the second link 16 is connected to the movable portion 182 via a third joint 19. The third joint 19 has its central axis positioned in the X-axis direction and supports the second link 16 so that it can rotate relative to the movable portion 182. One end of a spring 82, which is arranged parallel to the track section 181, is connected to the movable section 182. The other end of this spring 82 is connected to the fixed section 143. The spring 82 is a tension spring that biases the movable section 182 toward the fixed section 143. A roller 20 is positioned at the other end of the arm section 17. The roller 20 is a disc-shaped member that rotates about a central axis positioned in the X-axis direction. The spring 82 is an example of an elastic body.

[0029] A control device 21 for controlling the flight actuators 32 is mounted in the center of the upper surface of the body 4. The control device 21 can be configured as a computer having a processor and memory. The control device 21 is configured to execute a predetermined control program stored in memory. Through the execution of this program, the flight actuators 32 and the like are controlled. This allows the processor to realize a function that matches a predetermined purpose. For example, the control device 21 performs feedback control of the flight actuators 32.

[0030] The control device 21 may also include a communication unit that communicates with the outside by wire or wireless connection, receive control commands via the communication unit, and control the flight actuator 32 according to those control commands. The control device 21 may also transmit information acquired by the end effector to the outside. The control device 21 may also be a device included in the support mechanism 10. Furthermore, in addition to the control device 21 that controls flight, the flying robot 1 may also be equipped with a control device that controls equipment mounted on it and performs information processing. The power to operate these control devices may be supplied from the same battery that supplies drive power to the flight actuator 32.

[0031] Next, the operation of the support mechanism 10 will be described. When moving the flying robot 1 towards the front in the Y-axis direction, the control device 21 controls the four flight actuators 32 so that the flying robot 1 is tilted towards the front in the Y-axis direction. Figure 5 is a diagram showing an example of the state when the flying robot 1 according to the first embodiment is in contact with an object A1, as viewed from the right side in the X-axis direction. Figure 6 is a diagram showing an example when the flying robot 1 moves further toward the object A1 from the state shown in Figure 5. The object A1 is an external member of the flying robot 1. When the flying robot 1 comes into contact with the object A1, the flying robot 1 is in a forward-leaning posture. First, the roller 20 comes into contact with the object A1. In this state, as the flying robot 1 moves further toward the object A1 in a forward-leaning posture, the roller 20 pushes the object A1, causing the roller 20 to receive a reaction force from the object A1. Due to this reaction force, the arm portion 17 is pushed toward the back in the Y-axis direction. As a result, the first link 14 rotates clockwise around the first joint 13. Also, as the first joint 13 rotates clockwise, the movable part 182 moves along the track part 181 toward the roller 20, and the second link 16 rotates clockwise around the second joint 15. At this time, the spring 82 stretches, increasing the biasing force of the spring 82. This biasing force of the spring 82 increases as the reaction force received from the object A1 increases. In other words, the biasing force of the spring 82 increases as the clockwise rotation angle of the arm part 17 around the first joint 13 increases.

[0032] Next, the two contact points 73 come into contact with the object A1. As a result, the roller 20 and the two contact points 73 come into contact with the object A1. When the two contact points 73 come into contact with the object A1, their movement in the Z-axis direction is restricted to some extent by frictional resistance. On the other hand, the roller 20 can move by rolling along the outer wall of the object A1 in the Z-axis direction. Therefore, after the two contact points 73 come into contact with the object A1, when the control device 21 moves the flying robot 1 in a direction that approaches the object A1, the flying robot 1 rotates counterclockwise around the X-axis with the two contact points 73 as the center. At this time, the roller 20 rotates and moves upward along the wall surface of the object A1 in the Z-axis direction.

[0033] As a result, the reaction force that the roller 20 receives from the object A1 becomes even greater. This reaction force pushes the arm 17 further inward in the Y-axis direction. This causes the spring 82 to stretch further, and thus the biasing force of the spring 82 becomes even greater. In this way, the greater the force with which the flying robot 1 pushes the object A1, the greater the biasing force of the spring 82 becomes.

[0034] Figure 7 shows an example of the forces acting on the flying robot 1 when it is in contact with an object A1 according to the first embodiment. When the flying robot 1 flies forward, the thrust force F1 is generated while maintaining a forward-leaning posture by individually controlling the thrust force generated by each propulsion unit 3. At this time, the altitude of the flying robot 1 is maintained as the lift force F2, which is the Z-axis component of the thrust force F1, balances gravity F3. In addition, the flying robot 1 moves in the direction of the object A1 due to the support force F4, which is the Y-axis component of the thrust force F1. When the roller 20 comes into contact with the object A1, the flying robot 1 receives a normal force F5 from the object A1. In response to this normal force F5, the spring 82 stretches, changing the posture of the support mechanism 10 and increasing the restoring force F6. As the flying robot 1 continues to move forward and the contact part 73 also comes into contact with the object A1, the flying robot 1 comes into contact with the object A1, and the support force F4 acts as a force that presses the flying robot 1 against the object A1. At this time, the contact point 73 receives a normal force F7. As the moment M1 that tilts the flying robot 1 forward increases, the spring 82 stretches, and the opposite moment generated by the restoring force F6 also increases. Therefore, the flying robot 1 does not fall towards the object A1 without restricting the change in its posture while maintaining contact. The center of rotation of moment M1 is the center of gravity of the flying robot 1. At this time, the support force F4 can be increased by tilting the posture further forward. The spring 82 also acts as a device to absorb the impact when the flying robot 1 contacts the object A1 at high speed. Furthermore, when the flying robot 1 is in contact with the object A1, if the moment M1 that tilts the flying robot 1 forward becomes smaller, the flying robot 1 is pushed back in the Y-axis direction by the spring 82, and the roller 20 also maintains contact with the object A1 by the spring 82. As a result, the support force F4 can be reduced by shifting the attitude of the aircraft horizontally while maintaining contact, and by tilting the attitude backward, the direction of F4 changes to backward, allowing the flying robot 1 to smoothly detach from the object A1.Furthermore, the spring 82 is positioned relatively far from the first joint 13, which is the rotation center of the two shafts 141 of the first link 14, and the second joint 15, which is the rotation center of the shaft 161 of the second link 16. If the spring were to be placed near these rotation centers, a relatively large torque would be required to correspond to the movement of the arm portion 17. Therefore, it would be necessary to use a spring with a relatively large spring constant. In order to receive the force of that spring near the rotation center, a high-strength design would be required around the spring. This could increase the mass of the support mechanism 10. In contrast, in the support mechanism 10 according to the first embodiment, by positioning the spring 82 relatively far from the first joint 13 and the second joint 15, which are the rotation centers, the stroke is increased, but the required torque is suppressed. Therefore, the high-strength design described above becomes unnecessary, and the support mechanism 10 can be made lighter. Furthermore, weight reduction can also be achieved, for example, by applying force in a direction close to the axial direction of the two shafts 141 of the first link 14 or the shaft 161 of the second link 16.

[0035] As described above, according to this embodiment, when the arm portion 17 contacts the object A1, the angle of the arm portion 17 with respect to the main body portion 2 changes, and a restoring force is generated by the spring 82. This allows the force pressing the flying robot 1 against the object A1 to be maintained. At this time, the force that moves the flying robot 1 forward acts as a force to maintain contact with the object A1. Also, at this time, since the propulsion unit 3 generates lift, the altitude of the flying robot 1 can be maintained without depending on the magnitude of the frictional force acting between the object A1 and the flying robot 1. In this way, by making the flying robot 1 contact the object A1 in a forward-tilted position, it is possible to simultaneously generate a force that presses the flying robot 1 against the object A1 (supporting force F4) and a lift force F2 that supports the flying robot 1 so that it does not fall.

[0036] Since the flying robot 1 makes contact with the object A1 at three points—the two contact points 73 and the roller 20—it is possible to stabilize the attitude of the flying robot 1 while it is in contact with the object A1. At the same time, it is possible to prevent the flying robot 1 from excessively tilting forward and falling towards the object A1 while in contact. Furthermore, since the roller 20 moves along the wall surface of the object A1, the angle of the arm portion 17 relative to the main body portion 2 can be smoothly changed in response to the force that the flying robot 1 applies to the object A1, while maintaining the state in which the two contact points 73 and the roller 20 are in contact with the object A1. In addition, by increasing the distance in the Z-axis direction between the two contact points 73 and the roller 20, it is possible to suppress changes in the attitude of the flying robot 1 due to the influence of wind and other factors.

[0037] Furthermore, by adjusting the thrust force according to the environment and the work content, the force with which the flying robot 1 contacts the object A1 can be changed. Also, if a structure is adopted in which the angle of the arm portion 17 relative to the main body portion 2 does not change, the attitude of the flying robot 1 may not change even if the thrust force of the propulsion unit 3 is changed. In this case, for example, when controlling the propulsion unit 3 by feedback control, if there is a persistent difference between the control command value and the actual value, it is conceivable that an abnormality may occur in the operation of the flying robot 1. In contrast, with the flying robot 1 according to this embodiment, the attitude of the flying robot 1 changes in accordance with the thrust force of the propulsion unit 3, so that an abnormality in the operation of the flying robot 1 can be suppressed.

[0038] Furthermore, because the relative position between the flying robot 1 and the object A1 can be suppressed, it becomes possible to take photographs at closer range, perform pinpoint marking, and apply chemicals to pinpoint locations. Also, because a force is generated that presses the flying robot 1 against the object A1, it becomes possible to attach a robotic arm or the like to the flying robot 1 separately to perform contact work that generates a reaction force. The support mechanism 10 can be attached to the body 4 at two locations: the front support part 11 and the rear support part 12. In addition, since the support mechanism 10 is concentrated on the top of the flying robot 1, it can be attached to existing aircraft relatively easily. Also, because the arm part 17, spring 82, and linear motion guide device 18 are positioned relatively far from the body 4, the support mechanism 10 can be attached without interfering with the control device 21 even if the control device 21 is positioned on the top surface of the body 4. The propeller guard 7 can also be attached to existing aircraft relatively easily. Furthermore, the support mechanism 10 and propeller guard 7 can be removed when not in use, allowing the drone to be operated as a normal drone. Therefore, a single aircraft can handle multiple tasks, leading to cost reductions.

[0039] <Second Embodiment> Figure 8 is a diagram showing an example of the schematic configuration of a flying robot 1 equipped with a support mechanism 90 according to the second embodiment. The flying robot 1 according to the second embodiment differs from the flying robot 1 according to the first embodiment in the configuration of the support mechanism 90. The other configurations are the same as those of the flying robot 1 according to the first embodiment, so their description is omitted. Note that the support mechanism 90 is an example of a first support part.

[0040] Figure 9 is a diagram showing an example of a cross-section of the support mechanism 90 according to the second embodiment. Figure 9 is a view of the support mechanism 90 from the right side in the X-axis direction. The support mechanism 90 has a fixed part 91 that is fixed to the body 4. A rotating part 93 is provided on the fixed part 91 so as to be rotatable about a rotation axis 92. The rotation axis 92 is arranged in the X-axis direction. An arm part 94 is fixed to the rotating part 93. Therefore, the arm part 94 is arranged so as to be rotatable about the rotation axis 92. Also, a spring 95 is provided on the front side in the Y-axis direction of the rotation axis 92, connecting the fixed part 91 and the rotating part 93. The spring 95 is a tension spring that biases the rotating part 93 to rotate counterclockwise in Figure 9 around the rotation axis 92. As shown in Figure 8, a roller 96 similar to that of the first embodiment is provided at the front end of the arm part 94 in the Y-axis direction. Note that the spring 95 is an example of an elastic body.

[0041] Figure 10 shows an example of the state when the flying robot 1 according to the second embodiment is in contact with an object A1, as viewed from the right side in the X-axis direction. Object A1 is an external component of the flying robot 1. When the flying robot 1 makes contact with the object, three points—the roller 96 and the two contact points 73—make contact with the object A1. At this time, the movement of the two contact points 73 in the Z-axis direction is restricted to some extent by frictional resistance. On the other hand, the roller 96 can move by rolling along the outer wall of the object in the Z-axis direction. Therefore, after the two contact points 73 make contact with the object, the flying robot 1 rotates counterclockwise around the X-axis with the two contact points 73 as the center. At this time, the roller 96 rotates and moves upward along the wall surface of the object in the Z-axis direction.

[0042] Furthermore, when the roller 20 pushes the object A1, the roller 20 receives a reaction force from the object. This reaction force pushes the arm 94 inward in the Y-axis direction. As a result, the arm 94 rotates clockwise around the rotation axis 92. At this time, the spring 95 stretches, increasing its biasing force. This biasing force increases as the reaction force received from the object A1 increases. Therefore, the greater the force with which the flying robot 1 pushes the object A1, the greater the biasing force of the spring 95.

[0043] Even in the flying robot 1 equipped with the support mechanism 90 configured as described above, the same effects as those of the flying robot 1 equipped with the support mechanism 10 according to the first embodiment can be obtained.

[0044] <Other Embodiments> In the first and second embodiments, the object is contacted at three points, namely the roller and the two contact portions. However, the number of contact points is not limited to this. For example, the object may be contacted at two points, namely the roller and one contact portion. In this case, for example, one point of the propeller guard may be used as the contact portion. Also, the entire connecting portion 72 may be used as the contact portion. That is, the object may be contacted with a line instead of a point. Further, there may be one contact portion, for example, at the center of the connecting portion 72. Also, the contact portion may be arranged on another member instead of the propeller guard. Also, the contact portion may be arranged on the flying robot 1 alone. Also, a roller may be arranged on the contact portion provided in the propeller guard. Then, the flying robot 1 can move in the vertical direction in a state of contacting the object. Also, instead of arranging a roller at the tip of the arm portion, a member that slides on the surface of the object may be arranged, or the tip of the arm portion may be configured to slide on the surface of the object.

[0045] 1... Flying robot, 3... Propulsion unit, 7... Propeller guard, 10... Support mechanism, 17... Arm portion, 18... Linear motion guide device, 20... Roller, 31... Propeller, 73... Contact portion, 82... Spring

Claims

1. A flying robot having at least two support parts that protrude in a predetermined direction from a propulsion unit, wherein the at least two support parts include a first support part and a second support part positioned below the first support part, the first support part having an arm part that, when the tip of the tip in the predetermined direction receives a force in the opposite direction to the predetermined direction, moves in a direction away from the second support part, and an elastic body that biases the tip of the tip toward the second support part, the elastic body having an increasing biasing force in proportion to the magnitude of the force in the opposite direction.

2. The flying robot according to claim 1, wherein the first support portion is provided with a roller at the tip of the arm portion that rotates about a central axis that is perpendicular to the predetermined direction and arranged horizontally.

3. The flying robot according to claim 1, wherein the second support portion is located outward in the predetermined direction from the propeller of the propulsion portion.

4. The flying robot according to claim 1, wherein the arm portion is positioned above the center of gravity of the flying robot.

5. The flying robot according to claim 1, wherein when the tip of the arm receives a force in the opposite direction to the predetermined direction, the tip rotates away from the second support about a rotation axis, and the elastic body biases the tip to rotate towards the second support about a rotation axis.

6. The flying robot according to claim 1, wherein a plurality of propulsion units are provided on the main body, each of the plurality of propulsion units is equipped with a propeller, and the angle of the rotation axis of the propeller with respect to the main body is fixed.

7. A support mechanism for a flying robot, which is one of at least two support parts that protrude in a predetermined direction from the propulsion unit of the flying robot, comprising: an arm part that moves the tip of the tip in the predetermined direction upward in the vertical direction when the tip of the tip in the predetermined direction receives a force in the opposite direction to the predetermined direction; and an elastic body that biases the tip downward in the vertical direction, the biasing force of which increases in proportion to the magnitude of the force in the opposite direction.

8. The support mechanism for a flying robot according to claim 7, wherein the tip of the arm portion is provided with a roller that rotates about a central axis that is perpendicular to the predetermined direction and arranged horizontally.

9. The support mechanism for a flying robot according to claim 7, wherein the arm portion is positioned above the center of gravity of the flying robot.

10. The support mechanism for a flying robot according to claim 7, wherein when the tip of the arm receives a force in the opposite direction to the predetermined direction, the tip rotates upward in the vertical direction about the axis of rotation, and the elastic body biases the tip to rotate downward in the vertical direction about the axis of rotation.

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