Flying robot and rotation mechanism of flying robot

WO2026120907A1PCT designated stage Publication Date: 2026-06-11THK CO LTD
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Patent Information

Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
THK CO LTD
Filing Date
2025-10-03
Publication Date
2026-06-11

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  • Figure JP2025035211_11062026_PF_FP_ABST
    Figure JP2025035211_11062026_PF_FP_ABST
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Abstract

A flying robot 1 comprises a body 2, a propulsion part 3, and leg parts 4, 5. The body 2 comprises a rotation mechanism 20 for independently rotating the propulsion part 3 and the leg parts 4, 5 about the same central axis 21 relative to the body 2.
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Description

Flying robot and rotating mechanism of flying robot 【0001】 The present invention relates to a flying robot and a rotating mechanism of the 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). In addition, a mobile robot that performs a walking operation while grounded on the ground together with flight by a propulsion unit is known (see, for example, Patent Document 2). 【0003】 Japanese Patent Application Laid-Open No. 2017-193331, Patent No. 6733965 【0004】 In a conventional multicopter, since legs or arms are fixed to the upper or lower part of the fuselage, there is a problem that the working area of the legs or arms is limited. 【0005】 The present invention has been made in view of various actual situations as described above, and its object is to improve the working performance of a flying robot. 【0006】 One aspect of the present invention is a flying robot including a fuselage, a propulsion unit, and legs, wherein the fuselage includes a rotating mechanism that independently rotates the propulsion unit and the legs around the same central axis with respect to the fuselage. 【0007】 Another aspect of the present invention is a rotating mechanism of a flying robot that independently rotates a propulsion unit and legs around the same central axis with respect to the fuselage of the flying robot. 【0008】 According to the present invention, the working performance of the flying robot can be improved. 【0009】This is a perspective view showing an example of the schematic configuration of a flying robot 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 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 is an example of a cross-sectional view of the torso according to the first embodiment in the XZ plane. This figure shows an example of the change in the state of the front leg according to the first embodiment. This figure shows an example of the mechanism of the first joint according to the first embodiment. This figure schematically illustrates the operation of the first joint according to the first embodiment. This figure shows an example of the structure of the locking mechanism according to the first embodiment. This figure shows an example of the state in which the front leg and rear leg according to the first embodiment are folded and locked by the locking mechanism. This figure shows another example of the state in which the front leg and rear leg according to the first embodiment are folded and locked by the locking mechanism. This figure shows an example of when the front leg and rear leg are rotated relative to the torso according to the first embodiment so that the front leg and rear leg are positioned above the torso in the Z-axis direction. This figure shows an example of the first embodiment in which the front and rear legs are rotated relative to the torso so that they are positioned on the front side in the Y-axis direction relative to the torso. This figure shows an example of the first embodiment in which the front and rear legs are rotated relative to the torso so that they are positioned on the front side in the Y-axis direction relative to the torso, and the propulsion unit is further tilted forward in the Y-axis direction relative to the torso. This figure shows an example of the first embodiment in which the front and rear legs grasp an object. This figure shows an example of the first embodiment in which the flying robot hangs from an object using the front and rear legs. 【0010】 One embodiment of the present invention is a flying robot comprising a torso, a propulsion unit, and legs. The propulsion unit generates thrust, for example, by driving a propeller. The legs have the function of supporting the aircraft by contacting the ground when the flying robot lands. The legs may also function as arms when performing tasks. The torso is the main part of the flying robot and is the part to which the propulsion unit and legs are connected. 【0011】Furthermore, the fuselage is equipped with a rotation mechanism that allows the propulsion unit and the legs to rotate independently around the same central axis relative to the fuselage. The rotation mechanism allows the propulsion unit and the legs to rotate relative to the fuselage. For example, the legs can be rotated relative to the fuselage while maintaining the angle of the propulsion unit relative to the fuselage. This allows the legs to be directed in any direction during flight, thus preventing, for example, the propulsion unit from contacting an object. Also, by changing the angle of the propulsion unit relative to the fuselage, the direction of the thrust force generated by the propulsion unit can be changed. This allows, for example, the legs to be pressed against an object while in contact with it. This enables the legs to be pressed against an object stably. 【0012】 Furthermore, the leg section may comprise a front leg section and a rear leg section, and the rotation mechanism may rotate the front leg section and the rear leg section independently around the same central axis relative to the body. The front leg section is, for example, the leg section located on the side in the direction of travel when the flying robot is in flight. The rear leg section is the leg section located on the side opposite to the front leg section. By rotating the front leg section and the rear leg section independently in this way, the angles of the front leg section and the rear leg section can be changed to match the terrain, for example, when landing. Also, for example, the body can be supported by the rear leg section while work is performed with the front leg section. 【0013】 Furthermore, the rotation mechanism may include a rotation axis positioned in the direction of the central axis, to which the propulsion unit is fixed, and a rotation part positioned around the rotation axis, rotating about the central axis, and to which the leg unit is fixed. In this case, the angles of the rotation axis and the rotation part with respect to the body can be controlled independently. Also, since both the rotation axis and the rotation part rotate about the same central axis, interference between them when rotating the propulsion unit and the leg unit with respect to the body is suppressed, and both can rotate 360 ​​degrees. In addition, the rotation mechanism can be made smaller. 【0014】Furthermore, the leg section comprises a front leg section and a rear leg section, and the rotation mechanism comprises a rotation axis arranged in the direction of the central axis, to which the propulsion section is fixed; a front rotation section arranged around the rotation axis, rotating about the central axis, to which the front leg section is fixed; and a rear rotation section arranged around the rotation axis, rotating about the central axis, to which the rear leg section is fixed. The rotation axis, the front rotation section, and the rear rotation section may each rotate independently. This allows for independent control of the angles of the rotation axis, the front rotation section, and the rear rotation section relative to the body. In addition, interference between the propulsion section, the front leg section, and the rear leg section is suppressed when rotating them relative to the body, and each can rotate 360 ​​degrees. Furthermore, the rotation mechanism can be miniaturized. 【0015】 Furthermore, the rotation mechanism may include a first worm wheel fixed to the rotation shaft, a second worm wheel fixed to the front rotation section, a third worm wheel fixed to the rear rotation section, a first worm that meshes with the first worm wheel, a second worm that meshes with the second worm wheel, a third worm that meshes with the third worm wheel, a first motor that rotates the first worm, a second motor that rotates the second worm, and a third motor that rotates the third worm. In this way, the rotation shaft, the front rotation section, and the rear rotation section may each be driven by motors via worm gears. In this case, the self-locking function of the worm gears allows the angles of the propulsion section, front leg section, and rear leg section relative to the fuselage to be maintained without the need for power supply. This enables power saving. 【0016】The leg portion comprises a joint portion and a first link portion and a second link portion connected to the joint portion, the first link portion comprises a motor, the joint portion comprises an articulated link with one end positioned on the first link portion and the other end positioned on the second link portion, the articulated link has a cross section at the one end side where the cross section by a plane perpendicular to the rotation axis of the motor is at least a part of a circle, a circular gear is formed on the circumference of at least a part of the circle, the circular gear meshes with an interlocking gear which is a gear that interlocks with the rotation axis of the motor, the joint portion may comprise a first fixed gear which is a gear fixed to the wall surface of the first link portion, a first rotation axis of the circular gear fixed to the circular gear and rotatably supported at the rotation center of the first fixed gear, a second fixed gear fixed to the wall surface of the second link portion that meshes with the first fixed gear, and a second rotation axis fixed to the other end side of the articulated link, rotatably supported at the rotation center of the second fixed gear and parallel to the first rotation axis. The first and second links bend and extend via the joint. The bending and extension at the joint are driven by the motor. The motor's driving force rotates the circular gear via the interlocking gear. At this time, the circular gear rotates around the first rotation axis. As the circular gear rotates, the entire joint link rotates. As a result, the second rotation axis, which is fixed to the joint link, rotates around the first rotation axis. Since the second rotation axis is rotatably supported by the second fixed gear, the second fixed gear also rotates around the first rotation axis along with the second rotation axis. At this time, since the second fixed gear meshes with the first fixed gear, the second fixed gear rotates along the first fixed gear. In this way, the second link rotates around the first rotation axis while also rotating around the second rotation axis relative to the first link, so that the angle between the first and second link can be changed rapidly. The circular gear may be, for example, a gear formed on the circumference of a semicircle, a gear formed on the circumference of a perfect circle, or a gear formed on a part of a circle cut out at an arbitrary angle from the center. 【0017】Furthermore, the leg portion comprises a base portion connected to the fuselage and rotated by the rotation mechanism, and a bendable leg portion connected to the base portion, and the base portion may be provided with a locking mechanism for locking the bendable leg portion to the base portion. The locking mechanism is a mechanism for fixing the leg portion to the base portion and preventing the leg portion from becoming released from the base portion. By locking the leg portion in a bent state, it is possible to prevent the angle of the leg portion from changing during flight without supplying power to the motor to maintain the angle of the leg portion. 【0018】 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. 【0019】 <First Embodiment> Figure 1 is a perspective view showing an example of the schematic configuration of a flying robot 1 according to the first embodiment. The flying robot 1 is composed of a body 2, a propulsion unit 3, a front leg unit 4, and a rear leg unit 5. 【0020】 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 direction and the Z-axis direction will be the X-axis direction. The front of the flying robot 1 is the lower right side in Figure 1, and is the direction in which the flying robot 1 travels when flying towards an object. When viewed from the front direction of the flying robot 1, the front side will be the front side in the Y-axis direction, and the opposite side in the Y-axis direction will be the rear side. 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 rear of the flying robot 1 is defined as the right side in the X-axis direction, and the left side when viewed from the rear of the flying robot 1 is defined as the left side in the X-axis direction. 【0021】 Figure 2 shows an example of the schematic configuration of the flying robot 1 according to the first embodiment when viewed from the front 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. 【0022】 The fuselage 2 is located in the center of the flying robot 1. The fuselage 2 has a rotation mechanism 20. This rotation mechanism 20 has a rotation shaft 21 arranged in the X-axis direction, a front drive unit 210, and a rear drive unit 220. The rotation shaft 21 is, for example, a round rod-shaped member made of metal. The configuration of the fuselage 2 will be described later. The propulsion unit 3 has four propulsion units 30. In the example shown in Figure 1, four propulsion units 30 are arranged, but the number of propulsion units 30 that can be mounted is not limited to four, as long as the flying robot 1 can fly. The propulsion unit 30 has a propeller 31 which is a rotating wing and a flight actuator 32 for rotating it. 【0023】As shown in Figure 4, the rotation centers of the four propellers 31 are offset from each other in the X-axis and Y-axis directions, with the fuselage 2 in between. The rotation centers of the four propellers 31 are located at the vertices of a rectangle with the fuselage 2 as the center. The spacing of the propulsion units 30 arranged in the X-axis direction is wider than the spacing of the propulsion units 30 arranged in the Y-axis direction. However, the arrangement of the rotation centers of the four propellers 31 is not limited to this. The rotation centers of the four propellers 31 only need to be arranged so that the front landing gear 4 and rear landing gear 5 do not come into contact with the four propellers 31 when they rotate, as described later. Therefore, it is not a necessary configuration for the spacing of the propulsion units 30 arranged in the X-axis direction to be wider than the spacing of the propulsion units 30 arranged in the Y-axis direction. The two propulsion units 30 located to the right of the fuselage 2 in the X-axis direction are each fixed to the right end of the rotation axis 21 in the X-axis direction via bridges 33. The two propulsion units 30, located to the left of the fuselage 2 in the X-axis direction, are each fixed to the left end of the rotation axis 21 in the X-axis direction via a bridge 33. The angle of the propeller 31 relative to the bridge 33 is fixed. 【0024】 Furthermore, the front legs 4 are positioned in front of the torso 2 in the Y-axis direction, and the rear legs 5 are positioned behind the torso 2 in the Y-axis direction. The front legs 4 have two front legs 41 and a front base 42 to which the two front legs 41 are connected. The rear legs 5 have two rear legs 51 and a rear base 52 to which the two rear legs 51 are connected. The front legs 41 and rear legs 51 can support the torso 2 when the flying robot 1 lands, and can also grasp objects as described later. In the following, of the two front legs 41, the front leg 41 positioned on the right side in the X-axis direction will be called the right front leg 41A, and the front leg 41 positioned on the left side in the X-axis direction will be called the left front leg 41B. When the right front leg 41A and the left front leg 41B are not distinguished, they will simply be called the front legs 41. Furthermore, of the two hind legs 51, the hind leg 51 positioned on the right side in the X-axis direction is called the right hind leg 51A, and the hind leg 51 positioned on the left side in the X-axis direction is called the left hind leg 51B. When the right hind leg 51A and the left hind leg 51B are not distinguished, they are simply referred to as hind legs 51. 【0025】Figure 5 is an example of a cross-sectional view of the fuselage 2 in the XZ plane according to the first embodiment. Figure 5 is a view of a cross-section taken at the rotation center of the rotation axis 21, seen from the rear in the Y-axis direction. Figure 5 is also a cross-sectional view of the rotation mechanism 20. The fuselage 2 has a main body portion 22 that supports the rotation axis 21. A worm wheel 201, which is a gear that rotates together with the rotation axis 21 about the X-axis direction, is provided at the center of the rotation axis 21 in the X-axis direction. The worm wheel 201 meshes with a worm 202 which is arranged in the Y-axis direction on the main body portion 22. The worm wheel 201 and the worm 202 constitute a worm gear. The worm 202 is rotated about the Y-axis direction by the first motor 203. 【0026】 Furthermore, to the left of the worm wheel 201 in the X-axis direction, a front drive unit 210 is positioned to rotate the front leg portion 4 around the rotation axis 21. The front drive unit 210 has a front rotating portion 211 that is rotatable around the rotation axis 21 independently of the rotation axis 21. A support portion 22A is formed on the left end face of the main body portion 22 in the X-axis direction to rotatably support the front rotating portion 211. The front rotating portion 211 is also supported by the main body portion 22 via a bearing 212 on the right side in the X-axis direction. The front rotating portion 211 also supports the rotation axis 21 via a bearing 204. A worm wheel 213, which is a gear that rotates together with the front rotating portion 211 around the X-axis direction, is fixed to the front rotating portion 211. The worm wheel 213 meshes with a worm 214 positioned in the Y-axis direction on the main body portion 22. The worm wheel 213 and the worm 214 constitute a worm gear. The worm 214 is rotated by the second motor 215 with the Y-axis direction as its central axis. 【0027】Furthermore, to the right of the worm wheel 201 in the X-axis direction, a rear drive unit 220 is positioned to rotate the rear leg portion 5 around the rotation axis 21. The rear drive unit 220 has a rear rotating portion 221 that is rotatable around the rotation axis 21 independently of the rotation axis 21. A support portion 22B is formed on the right end face of the main body portion 22 in the X-axis direction to rotatably support the rear rotating portion 221. The rear rotating portion 221 is also supported by the main body portion 22 via a bearing 222 on the left side in the X-axis direction. The rear rotating portion 221 also supports the rotation axis 21 via a bearing 205. A worm wheel 223, which is a gear that rotates together with the rear rotating portion 221 around the X-axis direction, is fixed to the rear rotating portion 221. The worm wheel 223 meshes with a worm 224 positioned in the Y-axis direction on the main body portion 22. The worm wheel 223 and the worm 224 constitute a worm gear. The worm 224 is rotated by the third motor 225 with the Y-axis direction as its central axis. 【0028】 The front base portion 42 is provided with a first connecting portion 43 and a second connecting portion 44 at both ends in the X-axis direction, extending toward the main body portion 22 of the fuselage 2. One end of the first connecting portion 43 is located at the right end of the front base portion 42 in the X-axis direction, and the other end of the first connecting portion 43 is fixed to the front rotating portion 211. One end of the second connecting portion 44 is located at the left end of the front base portion 42 in the X-axis direction, and the other end of the second connecting portion 44 is rotatably connected to the rear rotating portion 221 about the central axis of the rear rotating portion 221. Therefore, the front leg portion 4 rotates together with the front rotating portion 211 around the rotation axis 21. 【0029】 The rear base portion 52 is provided with a third connecting portion 53 and a fourth connecting portion 54 at both ends in the X-axis direction, extending toward the main body portion 22 of the fuselage 2. One end of the third connecting portion 53 is located at the right end of the rear base portion 52 in the X-axis direction, and the other end of the third connecting portion 53 is rotatably connected to the front rotating portion 211 about the central axis of the front rotating portion 211. One end of the fourth connecting portion 54 is located at the left end of the rear base portion 52 in the X-axis direction, and the other end of the fourth connecting portion 54 is fixed to the rear rotating portion 221. Therefore, the rear leg portion 5 rotates together with the rear rotating portion 221 around the rotation axis 21. 【0030】 In the flying robot 1 configured in this way, the first motor 203 can be activated to rotate the rotation axis 21 relative to the main body 22. Therefore, the propulsion unit 3 connected to the rotation axis 21 can also be rotated around the rotation axis 21 relative to the main body 22. In other words, by activating the first motor 203, the relative angle of the propulsion unit 3 with respect to the body 2 can be changed. Furthermore, the second motor 215 can be activated to rotate the front rotation unit 211 relative to the main body 22. Therefore, the front leg unit 4 connected to the front rotation unit 211 can also be rotated around the rotation axis 21 relative to the main body 22. In other words, by activating the second motor 215, the relative angle of the front leg unit 4 with respect to the body 2 can be changed. Furthermore, the third motor 225 can be activated to rotate the rear rotation unit 221 relative to the main body 22. Therefore, the rear leg unit 5 connected to the rear rotation unit 221 can also be rotated around the rotation axis 21 relative to the main body 22. In other words, by operating the third motor 225, the relative angle of the rear leg section 5 with respect to the fuselage 2 can be changed. Since the first motor 203, the second motor 215, and the third motor 225 can be controlled independently, the thruster section 3, the front leg section 4, and the rear leg section 5 can each be rotated independently with respect to the fuselage 2. 【0031】 Next, the mechanisms of the front legs 41 and hind legs 51 will be described. Note that the two front legs 41 and the two hind legs 51 have substantially the same mechanism, so only one front leg 41 will be described. Figure 6 is a diagram showing an example of the change in state of the front leg 41 according to the first embodiment. Reference numeral 501 indicates a state in which the first joint portion 421 and the second joint portion 422 of the front leg 41 are bent, for example, by 90 degrees, and reference numeral 502 indicates a state in which the first joint portion 421 and the second joint portion 422 of the front leg 41 are bent to their most extreme degree. The front leg 41 has a first link portion 411, one end of which is connected to the front base portion 42 and the other end of which is connected to the first joint portion 421; a second link portion 412, one end of which is connected to the first joint portion 421 and the other end of which is connected to the second joint portion 422; and a third link portion 413, one end of which is connected to the second joint portion 422. The other end of the third link portion 413 is the tip of the front leg 41. 【0032】 Figure 7 shows an example of the mechanism of the first joint 421 according to the first embodiment. The second joint 422 has substantially the same mechanism. A servo motor 451 is arranged on the first link 411. The output shaft of the servo motor 451 is arranged perpendicular to the rotation direction of the first joint 421. A first gear 452 is arranged on the output shaft of the servo motor 451. A second gear 453 meshes with the first gear 452. The second gear 453 is positioned closer to the second link 412 than the first gear 452. A third gear 454 is arranged coaxially with the second gear 453 and rotates coaxially with the second gear 453. The second gear 453 and the third gear 454 are rotatably supported by the first link 411. The second gear 453 and the third gear 454 rotate together and function as a reduction gear. A fourth gear 455 meshes with the third gear 454. The fourth gear 455 is positioned closer to the second link portion 412 than the third gear 454. The fourth gear 455 is formed on one circumference of the articulated link 456, which has an oval cross-section when measured in a plane perpendicular to the rotation axis of the servo motor 451. No gear is formed on the other circumference of the articulated link 456. One end of the articulated link 456 is located within the first link portion 411, and the other end is located within the second link portion 412. The first rotation axis 457 of the fourth gear 455 is rotatably supported on the rotation center of the fifth gear 458. The fifth gear 458 is fixed to the first link portion 411. The fifth gear 458 may be formed integrally with the first link portion 411. The sixth gear 459 meshes with the fifth gear 458. The sixth gear 459 is fixed to the second link portion 412. The sixth gear 459 may be formed integrally with the second link portion 412. The joint link 456, which has an oval cross-section, has a second rotation axis 460 fixed to the second link portion 412 side, parallel to the first rotation axis 457. This rotation axis is rotatably supported on the rotation center of the sixth gear 459. The third gear 454 is an example of an interlocking gear. The fourth gear 455 is an example of a circular gear. The fifth gear 458 is an example of a first fixed gear. The sixth gear 459 is an example of a second fixed gear. The fourth gear 455 is not limited to a semicircle; it may also be a circular gear. 【0033】 In the first joint 421 configured in this way, when the servo motor 451 rotates in one direction, the first gear 452 rotates in one direction. This causes the second gear 453 and the third gear 454 to rotate in the other direction. Also, when the third gear 454 rotates in the other direction, the fourth gear 455 rotates in one direction. When the fourth gear 455 rotates in one direction about the first rotation axis 457, the entire joint link 456 rotates in one direction about the first rotation axis 457. As a result, the sixth gear 459, which supports the second rotation axis 460, receives a rotational force from the second rotation axis 460 that causes it to rotate in one direction about the first rotation axis 457. At this time, the second link section 412, to which the sixth gear 459 is fixed, also receives a rotational force that causes it to rotate in one direction about the first rotation axis 457. Furthermore, because the sixth gear 459 is meshed with the fifth gear 458, the second link section 412 also rotates in one direction about the second rotation axis 460. 【0034】 Figure 8 is a schematic diagram illustrating the operation of the first joint 421 according to the first embodiment. Reference numeral 503 corresponds to the state of reference numeral 502 in Figure 6, reference numeral 504 corresponds to the state of reference numeral 501 in Figure 6, and reference numeral 505 indicates the state in which the first joint 421 is rotated 180 degrees from the state of reference numeral 503 so that the first link portion 411 and the second link portion 412 are aligned in a straight line. In this way, when the second link portion 412 is rotated relative to the first link portion 411, the range of motion of the first joint portion 421 is increased by moving the sixth gear 459 around the fifth gear 458. The first joint portion 421 can rotate in the range of 0 to 360 degrees as long as the second link portion 412 and the third link portion 413 do not come into contact with other members. 【0035】Furthermore, the front legs 41 can be fixed to the front base portion 42 using a locking mechanism when folded. Similarly, the rear legs 51 can be fixed to the rear base portion 52 using a locking mechanism when folded. Figure 9 shows an example of the structure of the locking mechanism 470 according to the first embodiment. Since the structures of the two front legs 41 and the locking mechanism 470 are substantially symmetrical, only one front leg 41 (left front leg 41B) will be described. Also, since the rear leg 51 has substantially the same locking mechanism as the front leg 41, only the front leg 41 (left front leg 41B) will be described. In Figure 9, reference numeral 506 indicates the state in which the front leg 41 is folded, reference numeral 507 indicates the state in which the front leg 41 is approaching the locking mechanism 470 and just before being locked, and reference numeral 508 indicates the state in which the front leg 41 is locked by the locking mechanism 470. Furthermore, in Figure 9, reference numeral 509 indicates an enlarged view of the area indicated by reference numeral 506 A1, reference numeral 510 indicates an enlarged view of the area indicated by reference numeral 507 A2, and reference numeral 511 indicates an enlarged view of the area indicated by reference numeral 508 A3. 【0036】The front base portion 42 is equipped with a servo motor 45 that rotates the front legs 41 about the Z-axis direction. The servo motor 45 can rotate the front legs 41 about the Z-axis regardless of whether the front legs 41 are folded or not. The locking mechanism 470 has two claw portions 471 corresponding to each of the two front legs 41. The two claw portions 471 extend forward in the Y-axis direction from a fixing portion 472 located on the front base portion 42, and are configured to rotate independently about the Z-axis with respect to the fixing portion 472. The two claw portions 471 are offset in the X-axis direction with respect to the fixing portion 472. The claw portion 471 located on the right side in the X-axis direction is called the right claw portion 471A, and the claw portion 471 located on the left side in the X-axis direction is called the left claw portion 471B. The left claw portion 471B has a lock portion 4711 on its tip side and a connecting portion 4712 on the fixing portion 472 side. The locking portion 4711 has a quadrant shape when viewed from above in the Z-axis direction, and its width narrows towards the front in the Y-axis direction and towards the right in the X-axis direction. Also, the end portion 4711A of the locking portion 4711 on the fixing portion 472 side is wider in the X-axis direction than the connecting portion 4712. The right claw portion 471A is approximately symmetrical to the left claw portion 471B. The locking mechanism 470 also has a torsion spring 473. The torsion spring 473 is located in the fixing portion 472 and biases the left claw portion 471B to the left in the X-axis direction and the right claw portion 471A to the right in the X-axis direction. Therefore, the two claw portions 471 are biased to move away from each other by the torsion spring 473. 【0037】As indicated by reference numeral 510, when the left front leg 41B is rotated toward the locking mechanism 470 by the servo motor 45, the surface of the outer wall 413A of the third link portion 413 moves while applying force to bring the locking portion 4711 of the left claw portion 471B closer to the right claw portion 471A. Then, when the third link portion 413 moves toward the fixed portion 472 by the thickness of the outer wall 413A of the third link portion 413, the locking portion 4711 rotates to the left in the X-axis direction around the Z-axis due to the biasing force of the torsion spring 473, as indicated by reference numeral 511. As a result, the end portion 4711A of the locking portion 4711 fits onto the back surface of the outer wall 413A of the third link portion 413. In this way, the left front leg 41B is locked to the front base portion 42 by the locking mechanism 470. Similarly, the right front leg 41A is also locked to the front base 42 by the locking mechanism 470. The locking of the right front leg 41A and the left front leg 41B is not performed simultaneously; the locking of one is performed only after the locking of the other is completed. For example, the shape and arrangement of the right claw portion 471A and the left claw portion 471B are determined so that when the right front leg 41A and the left front leg 41B are rotated simultaneously toward the locking mechanism 470, the right claw portion 471A and the left claw portion 471B do not come into contact and lock. In this way, for example, when the flying robot 1 is flying with the right front leg 41A and the left front leg 41B locked, even if an inertial force acts on the right front leg 41A and the left front leg 41B during deceleration, and a force is applied to the right claw portion 471A and the left claw portion 471B in the direction of releasing the lock, the right claw portion 471A and the left claw portion 471B will not come into contact, and the locking will not be released. In this way, the right foreleg 41A and the left foreleg 41B can be kept locked. 【0038】Even when releasing the locks, the locks on the right front leg 41A and the left front leg 41B are not released simultaneously; one lock is released first, then the other. The biasing force of the torsion spring 473 and the shape of the claw portion 471 may be determined such that the claw portion 471 disengages from the third link portion 413 when the servo motor 45 operates in a direction that moves the front leg 41 away from the front base portion 42. In this way, rotation of the front leg 41 and rear leg 51 around the Z axis during flight can be suppressed even without energizing the servo motor 45. In this embodiment, the lock portion 4711 is formed in the shape of a quadrant when viewed from above in the Z axis direction, but the shape of the lock portion 4711 is not limited to this. It is sufficient if the shape is such that the left claw portion 471B rotates due to the force when the outer wall 413A of the third link portion 413 contacts the lock portion 4711. For example, the lock portion 4711 may be formed in the shape of a triangle that becomes narrower towards the tip when viewed from above in the Z axis direction. Furthermore, in this embodiment, the two claw portions 471 are biased away from each other by a torsion spring 473, but the biasing of the two claw portions 471 is not limited to the torsion spring 473. Any means that can bias the two claw portions 471 away from each other is sufficient, and for example, a compression spring or a magnet can also be used. 【0039】 Figure 10 shows an example of the state in which the front legs 41 and rear legs 51 of the first embodiment are folded and locked by the locking mechanism 470. Figure 10 shows an example of the schematic configuration of the flying robot 1 when viewed from the right side in the X-axis direction. In this way, by folding the front legs 41 and rear legs 51 after the flying robot 1 takes off and flies, it is possible to suppress the movement of each joint of the front legs 41 and rear legs 51 even when the operation of each servo motor located in the front legs 41 and rear legs 51 is stopped. Therefore, power saving is possible. 【0040】The fuselage 2 is equipped with a control device that controls the flight actuators 32, the first motor 203, the second motor 215, the third motor 225, the servo motor 451, and the servo motor 45, etc. The control device can be configured as a computer having a processor and memory. The control device is configured to execute a predetermined control program stored in memory. Through the execution of this program, the flight actuators 32, etc. are controlled. This allows the processor to realize a function that matches a predetermined purpose. The control device may also be equipped with a communication unit that communicates with the outside by wire or wireless, and may receive control commands via the communication unit and control the flight actuators 32, etc. according to those control commands. In addition, a separate control device for controlling the nose gear 41 and the rear gear 51 may be mounted separately from the control device for controlling flight. The control device can independently control the four flight actuators 32, the first motor 203, the second motor 215, the third motor 225, each servo motor 451, and each servo motor 45. 【0041】 Furthermore, the fuselage 2 is equipped with a battery that supplies power to the control device, flight actuator 32, first motor 203, second motor 215, third motor 225, servo motor 451, and servo motor 45, etc. 【0042】The control device activates the second motor 215, which changes the angle of the front leg portion 4 relative to the body 2 around the X-axis. Similarly, the control device activates the third motor 225, which changes the angle of the rear leg portion 5 relative to the body 2 around the X-axis. Figure 11 shows another example of the state in which the front leg portion 41 and rear leg portion 51 of the first embodiment are folded and locked by the locking mechanism 470. Figure 11 shows an example of the schematic configuration of the flying robot 1 when viewed from the right side in the X-axis direction. Compared to the state shown in Figure 10, the front leg portion 4 and rear leg portion 5 are rotated upward around the rotation axis 21 relative to the body 2 so that the front leg portion 41, front base portion 42, rear leg portion 51, and rear base portion 52 are each positioned above in the Z-axis direction. At this time, the front leg portion 4 and rear leg portion 5 rotate in opposite directions to each other. In the example shown in Figure 11, the front leg 4 rotates counterclockwise when viewed from the right side in the X-axis direction, and the rear leg 5 rotates clockwise when viewed from the right side in the X-axis direction. In Figure 11, the first connection part 43, the second connection part 44, the third connection part 53, and the fourth connection part 54 are arranged in the Y-axis direction, but they are not limited to this and can be stopped at any angle with respect to the Y-axis direction. In addition, the angles of the front leg 4 and the rear leg 5 relative to the body 2 can be set independently. Furthermore, after the second motor 215 stops, the self-locking function of the worm gear consisting of the worm wheel 213 and worm 214 prevents the angle of the front leg 4 relative to the body 2 from changing. Similarly, after the third motor 225 stops, the self-locking function of the worm gear consisting of the worm wheel 223 and worm 224 prevents the angle of the rear leg 5 relative to the body 2 from changing. 【0043】Figure 12 shows an example of the state in which the front legs 4 and the hind legs 5 are rotated with respect to the body 2 so as to be positioned above the body 2 in the Z-axis direction in the first embodiment. Figure 12 shows an example of the schematic configuration when the flying robot 1 is viewed from the right side in the X-axis direction. When the control device operates the second motor 215 and the third motor 225 during the flight of the flying robot 1, the front legs 4 and the hind legs 5 rotate about the rotation axis 21 with respect to the body 2. At this time, each propulsion unit 30 of the propulsion unit 3 is controlled by the control device, and the inclination of the propulsion unit 3 is suppressed. From the state shown in FIG. 3, by rotating the front legs 4 and the hind legs 5 by 180 degrees, the state shown in FIG. 12 is obtained. According to such an aspect, for example, even when the flying robot 1 is brought close to an object positioned above the flying robot 1 such as a ceiling, since the front legs 41 and the hind legs 51 contact the upper object, it is possible to suppress the propeller 31 from contacting the upper object. In addition, since the flying robot 1 can be pressed against the upper object by the propulsive force of the propulsion unit 3, it is possible to stably contact the upper object. 【0044】 Figure 13 shows an example of the state in which the front legs 4 and the hind legs 5 are rotated with respect to the body 2 so as to be positioned in the front side in the Y-axis direction with respect to the body 2 in the first embodiment. Figure 13 shows an example of the schematic configuration when the flying robot 1 is viewed from the right side in the X-axis direction. From the state shown in FIG. 3, by rotating the front legs 4 and the hind legs 5 by 90 degrees, the state shown in FIG. 13 is obtained. According to such an aspect, for example, even when the flying robot 1 is brought close to an object positioned in front of the flying robot 1 such as a wall, since the front legs 41 and the hind legs 51 contact the front object, it is possible to suppress the propeller 31 from contacting the front object. Incidentally, similarly for an object located in the rear direction of the flying robot 1, by rotating the front legs 4 and the hind legs 5 with respect to the body 2 so that the front legs 4 and the hind legs 5 are positioned on the rear side in the Y-axis direction, it is possible to suppress the propeller 31 from contacting the rear object. 【0045】Figure 14 shows an example of the first embodiment in which the front legs 4 and rear legs 5 are rotated relative to the body 2 so that they are positioned on the front side in the Y-axis direction relative to the body 2, and the propulsion unit 3 is further tilted forward in the Y-axis direction relative to the body 2. By rotating the propulsion unit 3 relative to the body 2 from the state shown in Figure 13, the state shown in Figure 14 is achieved. With this configuration, the thrust of the propulsion unit 3 can press the flying robot 1 against an object located in front of the flying robot 1, such as a wall. This allows the flying robot 1 to be kept in stable contact with an object in front. Similarly, for objects located behind the flying robot 1, the flying robot 1 can be kept in stable contact with an object in the rear direction by rotating the front legs 4 and rear legs 5 relative to the body 2 so that they are positioned on the rear side in the Y-axis direction. Furthermore, after the first motor 203 stops, the self-locking function of the worm gear, consisting of the worm wheel 201 and worm 202, prevents the angle of the propulsion unit 3 relative to the fuselage 2 from changing. 【0046】 Figure 15 shows an example of when the front legs 41 and rear legs 51 of the first embodiment grasp an object B1. Grasping of object B1 is performed while the flying robot 1 is in flight. Reference numeral 512 indicates an example of grasping a relatively small diameter round bar arranged in the X-axis direction. In the example of reference numeral 512, the right front leg 41A and the right rear leg 51A are paired, and the left front leg 41B and the left rear leg 51B are paired to hold the object B1. At this time, the second joint portions 422 of the front legs 41 and rear legs 51 are bent so that the third link portion 413 bends toward the object B1 relative to the second link portion 412. In this way, the robot can carry the object B1 or stop on the object B1. 【0047】Reference numeral 513 shows an example of gripping a relatively large-diameter round bar arranged in the X-axis direction. In the example of reference numeral 513, the right front leg 41A and the right rear leg 51A form a pair, and the left front leg 41B and the left rear leg 51B form a pair to sandwich the object B1. For example, the angle of the front legs 4 with respect to the body 2, the angle of the rear legs 5 with respect to the body 2, the angle of the first joint portion 421, and the angle of the second joint portion 422 are different from those of reference numeral 512. That is, by adjusting the angle of the front legs 4 with respect to the body 2, the angle of the rear legs 5 with respect to the body 2, the angle of the first joint portion 421, and the angle of the second joint portion 422, etc., objects B1 of different sizes can be gripped. 【0048】 Reference numeral 514 shows an example of gripping a relatively large-diameter round bar arranged in the Y-axis direction. In the example of reference numeral 514, the right front leg 41A and the left front leg 41B form a pair, and the right rear leg 51A and the left rear leg 51B form a pair to sandwich the object B1. At this time, the second joint portion 422 of the front legs 41 and the rear legs 51 is bent so that the third link portion 413 bends toward the object B1 side with respect to the second link portion 412. Also, by adjusting the angle of the front legs 4 with respect to the body 2, the angle of the rear legs 5 with respect to the body 2, the angle of the first joint portion 421, and the angle of the second joint portion 422, etc., objects B1 of different sizes can be gripped. 【0049】 Reference numeral 515 shows an example of gripping a relatively large-diameter round bar arranged in the X-axis direction. In the example of reference numeral 515, the right front leg 41A and the left front leg 41B form a pair and sandwich the object B1 from both ends at their respective tip portions, and the right rear leg 51A and the left rear leg 51B are in contact with the ground. Also, the flying robot 1 can fly in the posture shown by reference numeral 515. By adjusting the angle of the right front leg 41A and the left front leg 41B with respect to the front base portion 42, the angle of the first joint portion 421 of the front legs 41, the angle of the second joint portion 422 of the front legs 41, the rotation angle of the servo motor 45, etc., objects B1 of different lengths can be gripped. 【0050】Figure 16 shows an example of when the flying robot 1 hangs from an object B2 using the front legs 41 and rear legs 51 according to the first embodiment. Reference numeral 516 indicates an example in which the flying robot 1 hangs from an object B2, such as a wire, which is arranged in the X-axis direction. In the example of reference numeral 516, the right front leg 41A and the right rear leg 51A are paired, and the left front leg 41B and the left rear leg 51B are paired to sandwich the object B2. At this time, the second joint portions 422 of the front legs 41 and rear legs 51 are bent so that the third link portion 413 bends toward the object B2 with respect to the second link portion 412. In this way, the robot can hang from an object B2. Furthermore, by adjusting the angle of the front leg portion 4 with respect to the body 2, the angle of the rear leg portion 5 with respect to the body 2, the angle of the first joint portion 421, and the angle of the second joint portion 422, the robot can hang from objects B2 of different sizes. 【0051】 Reference numeral 517 indicates an example in which the flying robot 1 hangs from an object B2, such as a wire, which is arranged in the Y-axis direction. In the example of reference numeral 517, the right front leg 41A and the left front leg 41B are paired, and the right rear leg 51A and the left rear leg 51B are paired to sandwich the object B2. At this time, the second joints 422 of the front legs 41 and rear legs 51 are bent so that the third link portion 413 bends toward the object B2 relative to the second link portion 412. In this way, the robot can hang from the object B2. Furthermore, by adjusting the angle of the front legs 4 relative to the body 2, the angle of the rear legs 5 relative to the body 2, the angle of the first joint portion 421, the angle of the second joint portion 422, the rotation angle of the servo motor 45, etc., the robot can hang from objects B2 of different sizes. 【0052】 As described above, according to this embodiment, the angles of the propulsion unit 3, the front legs 4, and the rear legs 5 relative to the body 2 can be changed independently. This improves the workability of the front legs 4 and the rear legs 5. Furthermore, since the direction of thrust generation by the propulsion unit 3 can be changed, the attitude of the flying robot 1 when carrying an object can be stabilized. 【0053】1...Flying robot, 2...Body, 3...Propulsion unit, 4...Front legs, 5...Rear legs, 21...Rotating axis, 22...Main body, 30...Propulsion unit

Claims

1. A flying robot comprising a torso, a propulsion unit, and legs, wherein the torso is equipped with a rotation mechanism that causes the propulsion unit and the legs to rotate independently around the same central axis relative to the torso.

2. The flying robot according to claim 1, wherein the leg portion comprises a front leg portion and a rear leg portion, and the rotation mechanism rotates the front leg portion and the rear leg portion independently around the same central axis relative to the torso.

3. The flying robot according to claim 1, wherein the rotating mechanism comprises: a rotating shaft arranged in the direction of the central axis and to which the propulsion unit is fixed; and a rotating unit arranged around the rotating shaft, rotating about the central axis, and to which the leg unit is fixed.

4. The flying robot according to claim 1, wherein the leg portion comprises a front leg portion and a rear leg portion, and the rotation mechanism comprises: a rotation axis arranged in the direction of the central axis and to which the propulsion portion is fixed; a front rotation portion arranged around the rotation axis and rotating about the central axis and to which the front leg portion is fixed; and a rear rotation portion arranged around the rotation axis and rotating about the central axis and to which the rear leg portion is fixed, wherein the rotation axis, the front rotation portion, and the rear rotation portion each rotate independently.

5. The flying robot according to claim 4, wherein the rotating mechanism comprises: a first worm wheel fixed to the rotating shaft; a second worm wheel fixed to the front rotating part; a third worm wheel fixed to the rear rotating part; a first worm that meshes with the first worm wheel; a second worm that meshes with the second worm wheel; a third worm that meshes with the third worm wheel; a first motor for rotating the first worm; a second motor for rotating the second worm; and a third motor for rotating the third worm.

6. The leg portion comprises: an articulated portion; a first link portion and a second link portion connected to the articulated portion; the first link portion comprises a motor; the articulated portion comprises an articulated link, one end of which is located on the first link portion and the other end of which is located on the second link portion; the articulated link comprises: a cross section at the one end side, the cross section by which a plane perpendicular to the rotation axis of the motor is perpendicular to at least a part of a circle, and a circular gear, which is a gear, is formed on the circumference of at least a part of the circle; the circular gear meshes with an interlocking gear, which is a gear that is interlocked with the rotation axis of the motor; the articulated portion comprises: a first fixed gear, which is a gear fixed to the wall surface of the first link portion; a first rotation axis, which is the rotation axis of the circular gear fixed to the circular gear and is rotatably supported at the rotation center of the first fixed gear; a second fixed gear, which is a gear fixed to the wall surface of the second link portion and meshes with the first fixed gear; and a second rotation axis, which is fixed to the other end side of the articulated link and is rotatably supported at the rotation center of the second fixed gear, and is parallel to the first rotation axis. The flying robot according to claim 1, comprising:

7. The flying robot according to claim 1, wherein the leg portion comprises a base portion connected to the torso and rotated by the rotation mechanism, and a bendable leg connected to the base portion, and the base portion comprises a locking mechanism for locking the bendable leg to the base portion.

8. A rotation mechanism for a flying robot that allows the propulsion unit and legs to rotate independently around the same central axis relative to the torso of the flying robot.

9. The rotation mechanism for a flying robot according to claim 8, wherein the leg portion comprises a front leg portion and a rear leg portion, and the rotation mechanism rotates the front leg portion and the rear leg portion independently around the same central axis relative to the torso.

10. The rotation mechanism for a flying robot according to claim 8, comprising: a rotating shaft arranged in the direction of the central axis, to which the propulsion unit is fixed; and a rotating unit arranged around the rotating shaft, rotating about the central axis, to which the leg unit is fixed.

11. The leg portion comprises a front leg portion and a rear leg portion, and the rotation mechanism comprises: a rotation axis arranged in the direction of the central axis, to which the propulsion portion is fixed; a front rotation portion arranged around the rotation axis, rotating about the central axis, to which the front leg portion is fixed; and a rear rotation portion arranged around the rotation axis, rotating about the central axis, to which the rear leg portion is fixed, wherein the rotation axis, the front rotation portion, and the rear rotation portion each rotate independently, the rotation mechanism for a flying robot according to claim 8.

12. A rotating mechanism for a flying robot according to claim 11, comprising: a first worm wheel fixed to the rotating shaft; a second worm wheel fixed to the front rotating part; a third worm wheel fixed to the rear rotating part; a first worm that meshes with the first worm wheel; a second worm that meshes with the second worm wheel; a third worm that meshes with the third worm wheel; a first motor for rotating the first worm; a second motor for rotating the second worm; and a third motor for rotating the third worm.