AU2010201262B2

AU2010201262B2 - Gyroplane

Info

Publication number: AU2010201262B2
Application number: AU2010201262A
Authority: AU
Inventors: Otmar Birkner
Original assignee: Individual
Current assignee: AutoGyro AG
Priority date: 2009-04-01
Filing date: 2010-03-30
Publication date: 2014-12-18
Anticipated expiration: 2030-03-30
Also published as: DE102009015806A1; EP2236414A2; EP2236414A3; DE102009015806B4; AU2010201262A1; EP2236414B1

Abstract

The invention relates to a gyroplane with a payload rest (12), a rotor (14) and a supporting structure 5 (16) connecting the rotor (14) to the payload rest (12). According to the invention, provision is made for the supporting structure (16) to have a damping device (20) for damping oscillations originating from the rotor (14). '12 Fig. I

Description

P/00/011 Regulation 3.2 AUSTRALIA Patents Act 1990 ORIGINAL COMPLETE SPECIFICATION STANDARD PATENT Invention Title: "GYROPLANE" The following statement is a full description of this invention, including the best method of performing it known to me: - 1 GYROPLANE The invention relates to a gyroplane with a payload rest, a rotor and a supporting structure connecting 5 the rotor to the payload rest. Gyroplanes of this type are used as aviation sport equipment, for example. Known gyroplanes have the drawback that relatively long flights, in particular, 10 can be tiring for pilots. The invention is based on the object of disclosing a gyroplane which can be flown in a particularly non tiring manner. 15 The invention solves the problem by a gyroplane of the type in question in which the supporting structure has a damping device for damping oscillations originating from the rotor. 20 The invention has the advantage that the provision of the damping device suppresses oscillations emanating from the rotor, leading to less tiring flying. That is to say, it has been found that vibrations emanating 25 from the rotor are a crucial cause of pilot fatigue. An additional advantage is the fact that the gyroplane according to the invention can be flown in a manner that is particularly gentle on the pilot's joints. In 30 particular, the load is relieved on the pilot's intervertebral discs compared to known gyroplanes, as the intervertebral discs are loaded less intensively by vibrations. 35 A further advantage is the fact that the damping of the vibrations affects the entire cockpit. Unlike when only the payload rest of the gyroplane, in the form of - 2 a pilot seat, is damped, for example, no relative movement is produced between the control stick of the gyroplane and the pilot seat. 5 The invention is based on the finding that it is possible to reduce the rigidity of the supporting structure between the payload rest and rotor without influencing the flight stability of the gyroplane. That is surprising in so far as a reduced rigidity of 10 the supporting structure leads to greater movement of the rotor. This, in turn, changes the aerodynamic behaviour of the rotor, for which reason efforts have in the past been made to make the supporting structure particularly rigid. 15 Within the scope of the present description, the term "the payload rest" refers in particular to a pilot seat for a pilot. If the gyroplane is an item of aviation sport equipment, then the payload rest can 20 comprise one, two or three pilot seats. In principle, the invention is also suitable for model-sized gyroplanes. In this case, the payload rest may be a mount for a camera or another sensor, for example. However, the invention is particularly well suited to 25 gyroplanes embodied for transporting people. The term "a supporting structure" refers in particular to the entirety of all the elements connecting the rotor to the payload rest in such a way that the load 30 of the payload rest is absorbed. This may for example be a rod assembly, an individual supporting pipe, a system made up of a supporting pipe and rod assembly or the like. 35 The gyroplane preferably comprises a rotor head which is not part of the supporting structure and is arranged between the supporting structure, which may - 3 also be referred to as the fuselage, and the rotor. The rotor head comprises those components which serve to actuate the rotor. The damping device of the fuselage is preferred. 5 The feature that the supporting structure has a damping device for damping oscillations originating from the rotor is, in particular, to be understood to mean that the supporting structure has a first portion 10 having a first rigidity, a second portion having a second rigidity and a third portion having a third rigidity, the second portion being arranged between the first and the third portion and having a rigidity which is less than that of the first portion and that 15 of the third portion. In this case, the rigidity of the second portion is, in particular, less than half the rigidity of the first portion and of the third portion. In addition, the second portion is embodied in such a way that a relative movement of the first 20 portion and third portion is actively and/or passively damped. The feature that the supporting structure has a first portion having a first rigidity is then, in 25 particular, understood to mean that the first portion has the first rigidity with respect to an oscillation in a first plane, i.e. the resistance which the supporting structure presents to a deformation in this plane. In the flow of force from the rotor to the 30 payload rest there then follow a second portion having a second, lower rigidity and a third portion having a third rigidity. These rigidities also relate to a deflection in the same plane. 35 The term "the damping device for oscillations originating from the rotor" refers in particular to any device which is configured in such a way that at - 4 the speed of travel, that is to say at the highest speed which is possible at all times, the oscillations originating from the rotor are reduced, in at least one plane of oscillation, by more than 80 %. That 5 means that the amplitude of the oscillation at the payload rest is only at most 0.2 times as great as without the damping device. The term "a damping device" refers to a device which 10 reduces an oscillation originating from the rotor in that an energy inherent to the oscillation is converted at least partially into heat. According to a preferred embodiment, the gyroplane has 15 a centre of mass during operation, the damping device being arranged at a height between a centre of mass height of the centre of mass and a rotor height of the rotor. In other words, the damping device is arranged adjacently to the rotor. That allows oscillations 20 originating from the rotor to be reduced particularly effectively. The centre of mass relates to the gyroplane with a payload, i.e. for example with a pilot. 25 It is beneficial if the damping device is embodied in such a way that it damps an oscillation of the rotor about a transverse axis of the gyroplane. An oscillation of this type leads to upward and downward oscillation on the pilot seat; this is particularly 30 undesirable. Provision may be made for the damping device to have substantially no damping effect for oscillations about the longitudinal axis. Oscillations of this type lead to a rotary oscillation of the pilot seat about a centre of gravity of the pilot's body; 35 this is felt to place little strain on the pilot. In addition, the rigidity with respect to a deformation in the plane perpendicular to the longitudinal axis - 5 leads to low movements of the rotor relative to the supporting structure. According to a preferred embodiment, the damping 5 device comprises a joint, in particular a rotary joint. This refers in particular to a ball joint, a universal joint or a cardan joint. However, a joint having just one degree of freedom to pivot is also possible. In this case, the pivot axis is preferably 10 the transverse axis of the gyroplane. Preferably, the damping device comprises at least one active damping element. The term "an active damping element" refers in particular to an actuator which can 15 exert, by supplying energy, forces onto two parts of the joint that are selected in such a way that oscillations originating from the rotor reach the payload rest only in weakened form. The active damping element may be a piezo actuator or a magnetostrictive 20 actuator, for example. In addition, the active damping element may be an actively adjustable damping element in which the damping effect can be adjusted electrically, for example, by applying a voltage or a current. 25 Alternatively or additionally, the damping device comprises at least one passive damping element. This refers in particular to the fact that a component is provided that converts a large proportion of an 30 elastic deformation into heat. This may be a rubbery elastic element, for example. Alternatively or additionally, use may be made of a fluid-containing damper, for example a hydraulic or a pneumatic damper. In fluid dampers of this type, a movement between two 35 suspension points of the fluid damper leads to a fluid being moved from one chamber of the fluid damper to another and flowing in the process through a - 6 constriction, so that the fluid loses energy as it flows through. The fluid may be a liquid or a gas. Preferably, the damping element is adjustable in 5 its damping. If it is an active damping element, the damping of the damping element can be adjusted directly. According to a preferred embodiment, the damping 10 device has an adjustable spring constant. For example, the damping device has an elastic element which can be pretensioned. For this purpose, a damping element can for example display a non-linear dependence of the restoring force on the deflection. That is the case in 15 rubbery-elastic damping elements or McKibben muscles, for example. Preferably, the damping device is embodied in such a way that a first natural frequency of the supporting 20 structure is at least 14 hertz. It has been found that this allows sufficiently high safety to be achieved during operation of the gyroplane. In particular, the damping device is embodied in such a way that the natural frequency of the supporting structure for an 25 oscillation in a plane perpendicular to the longitudinal axis of the gyroplane is at least 14 hertz. It is possible for the damping device to be embodied in such a way that the natural frequency is, for example for an oscillation perpendicular to the 30 transverse axis, less than 14 hertz. Preferably, the damping device is embodied for damping oscillations which originate from the rotor and cause a movement of the payload rest with a vertical 35 movement component. These include oscillations about the transverse axis. The rotary movement of the rotor leads to a large number of mutually superimposed - 7 forces and torques. Forces or torques which lead to a rising and falling movement of the payload rest have a particularly disruptive effect. That is to say, this places a particular strain on the pilot. If the 5 supporting structure has a curved course, then the damping device is preferably embodied for damping movements of the rotor about a pitch axis. According to a preferred embodiment, the supporting 10 structure has a rotor-side supporting element and a fuselage-side supporting element and the damping device has at least one rubbery-elastic element and a bolt penetrating the rubbery-elastic element, a flow of force from the rotor-side supporting element into 15 the fuselage-side supporting element running through the bolt and the rubbery-elastic element. For example, the rubbery-elastic element is hollow cylindrical and is received in a sleeve which is fastened to the supporting element which is securely connected to the 20 bolt. During operation, the flow of force runs from the supporting element into the other supporting element via the bolt, the rubbery-elastic element and the sleeve. This construction is particularly simple and also very safe. That is to say, if the rubbery 25 elastic element fails, then the flow of force runs from the bolt directly into the sleeve, but the stability of the gyroplane is preserved. It is particularly beneficial if the supporting 30 element to which the bolt is fastened surrounds the supporting element to which the sleeve is fastened, at least in certain portions. In this way, an oscillation in the longitudinal direction of the supporting elements is damped particularly effectively. 35 Oscillations of the two supporting elements transversely to each other, on the other hand, are transmitted via the direct contact of the two - 8 supporting elements. High stability is thus obtained in the transverse direction. According to the invention, a gyroplane is with a 5 fuselage and a rotor head which is tiltable relative to the fuselage, the gyroplane having a hydraulic control device for tilting the rotor head relative to the fuselage. A gyroplane of this type can also have a damping device, although that is not necessary. 10 Gyroplanes are known in which the rotor head is connected to a control stick by means of control rods. If the control rod is moved, then this movement is transmitted by means of the control rods to the rotor 15 head which is as a result tilted. Depending on whether the rotor head is tilted during flight about a pitch axis or a roll axis, the gyroplane accelerates toward the front or toward the side. Known gyroplanes have the drawback that it is not possible to uncouple the 20 rotor head from the fuselage in such a way that an introduction of oscillations of the rotor head onto the fuselage is reduced without the uncoupling causing the control stick to start to vibrate. 25 This gyroplane has the advantage that an oscillation of the rotor head relative to the fuselage of the gyroplane is transmitted via the hydraulic control device. The hydraulic control device has higher damping than a mechanical connection, so that the 30 control stick is particularly steady. That increases comfort during flying. Furthermore, the reduced vibration leads to less pilot fatigue and thus to increased safety. 35 An additional advantage is the fact that a hydraulic control device can be implemented in a simple manner with a step-down arrangement. That, in turn, has the - 9 advantage that the gyroplane is less sensitive to small movements of the control stick. An additional advantage is the fact that the hydraulic 5 control device can be embodied in such a way that hydraulic lines are attached at an aerodynamically beneficial point, for example in the wind shadow of the fuselage. That reduces the air resistance of the gyroplane and thus the consumption thereof. 10 The term "the rotor head" refers to that unit of the gyroplane that articulates the rotor to the rigid fuselage. In other words, the rotor head is that component to which the rotor is fastened and by means 15 of which the rotor is pivotable relative to the fuselage. The term "the hydraulic control device" refers in particular to any control device in which a movement 20 of the control stick in at least one direction is transmitted to the rotor head by means of a hydraulic liquid. It is in this case possible, but not necessary, for the movements of the control stick to be transmitted both in the longitudinal direction and 25 in the transverse direction via the hydraulic liquids. It is thus entirely conceivable for a movement of the control stick to be transmitted in the transverse direction via a hydraulic liquid, whereas a movement in the longitudinal direction is transmitted 30 mechanically. The term "a movement of the control stick in the longitudinal direction" denotes in this case a movement away from the pilot or toward him, corresponding to a movement in the longitudinal direction of the gyroplane. 35 According to a preferred embodiment, the control device has a control stick, a control cylinder which - 10 is connected to the control stick, and an actuator cylinder which is connected to the rotor head, the actuator cylinder being connected to the control cylinder in such a way that a movement of the control 5 stick leads to a tilting of the rotor head relative to the fuselage. It is possible to provide more than one control cylinder. For example, two control cylinders and two 10 actuator cylinders are each arranged opposing each other. If the control stick is moved in one direction, then the pistons of the two control cylinders are moved in opposite directions. Following on therefrom, the pistons of the two actuator cylinders are also 15 moved in opposite directions. Because the pistons of the actuator cylinders act on the rotor head at opposite points, they tilt it in the same direction. The respective hydraulic systems made up of the control and actuator cylinders and also associated 20 hydraulic lines are independent of one another, so that redundancy is achieved. However, for reasons of weight, it is beneficial if just one actuator cylinder and one control cylinder are provided for tilting the rotor head about a predefined axis. It is 25 advantageous, as will be described hereinafter, if at least two partial control devices, namely a roll axis control device and a pitch axis control device, are present with a respective actuator cylinder and control cylinder acting on different axes of the 30 gyroplane, namely on a roll axis and a pitch axis. Preferably, the control device has a pressurizer. The term "a pressurizer" refers to a device which is embodied in such a way that a hydraulic pressure to 35 which the hydraulic liquid is subjected is kept above a minimum hydraulic pressure. This prevents any gas bubble contained in the hydraulic liquid from - 11 expanding when a component filled with hydraulic liquid thermally expands. A gas bubble of this type would adversely influence the response behaviour of the control device and lead to play. The pressurizer 5 ensures an at all times high, good response behaviour of the control device. It is particularly advantageous if the first pressurizer has a first compressed gas chamber filled 10 with compressed gas under gas pressure, a first hydraulic fluid chamber filled with hydraulic liquid, and a membrane separating the first compressed gas chamber from the first hydraulic fluid chamber in such a way that the gas pressure is transmitted to the 15 hydraulic liquid. A pressurizer of this type may be manufactured in a particularly simple manner, operated safely and maintained effectively. Preferably, the control device has a first hydraulic 20 line connecting a first end of the control cylinder to a first end of the actuator cylinder, a second hydraulic line connecting a second end of the control cylinder to a second end of the actuator cylinder, and a connecting valve for connecting and separating the 25 first hydraulic line and second hydraulic line. This allows the control stick to be adjusted. For adjusting the control stick, the rotor head is firstly brought into its neutral position, that is to say into the position which is automatically set at a flying speed 30 of 120 km/h relative to the ambient air. Afterwards, with the connecting valve opened, the control stick is brought into the position which the control stick is intended to assume when the rotor head is in the neutral position. Subsequently, the connecting valve 35 is closed. It is thus possible to carry out individual adjustments of the control stick.

- 12 Preferably, the connecting valve is protected from accidental connecting. For example, the connecting valve locks in the position in which the two hydraulic lines are separated from each other. This prevents the 5 connecting valve from connecting the two hydraulic lines during flight. This would make it impossible to steer. According to a preferred embodiment, the control 10 device is embodied in such a way that a pressure fluctuation in the actuator cylinder at 18 hertz leads to a pressure fluctuation in the control cylinder, the amplitude of which is less by at least 70 %. That is to say that a sinusoidal oscillation of the rotor head 15 relative to the fuselage at 18 hertz, for example, leads to a pressure fluctuation in the actuator cylinder that is also sinusoidal and has a specific amplitude. The pressure amplitude applied in the control cylinder (which is connected to the control 20 stick) is then at most 0.3 times the amplitude in the actuator cylinder. Much higher dampings, for example to less than 10 %, are even possible. This is achieved in a particularly simple manner in 25 that a first hydraulic line cross section of the first hydraulic line and/or a second hydraulic line cross section of the second hydraulic line is selected to be so small that the aforementioned damping is achieved. 30 According to a preferred embodiment, a control cylinder cross section of the control cylinder is at most as large as an actuator cylinder cross section of the actuator cylinder. That leads to a step-down arrangement, so that the gyroplane is less sensitive 35 to a movement of the control stick.

- 13 Preferably, the actuator cylinder is connected to the control cylinder and the rotor head in such a way that a movement of the control stick in the transverse direction leads to a tilting of the rotor head about a 5 roll axis of the gyroplane. On account of their function, the control cylinder can then be referred to as the roll axis control cylinder and the actuator cylinder can be referred to as the roll axis actuator cylinder. Both, together with the associated hydraulic 10 lines, are part of a roll axis control device which, in turn, is part of the hydraulic control device. Alternatively, the actuator cylinder is connected to the control cylinder and the rotor head in such a way 15 that a movement of the control stick in the transverse direction leads to a tilting of the rotor head about a pitch axis of the gyroplane. On account of their functions, the control cylinder can then be referred to as the pitch axis control cylinder and the actuator 20 cylinder can be referred to as the pitch axis actuator cylinder. Both, together with the associated hydraulic lines, are part of a pitch axis control device which, in turn, is part of the hydraulic control device. 25 A complete hydraulic control device is obtained if the control device (a) comprises a roll axis control device having a roll axis actuator cylinder, which is connected to the rotor head, and a roll axis control cylinder, which is connected to the control stick in 30 such a way that a movement of the control stick in the transverse direction leads to a tilting of the rotor head about a roll axis of the gyroplane, and (b) comprises a pitch axis control device having a pitch axis actuator cylinder, which is connected to the 35 rotor head, and a pitch axis control cylinder, which is connected to the control stick in such a way that a movement of the control stick in the longitudinal - 14 direction leads to a tilting of the rotor head about a pitch axis of the gyroplane. It is particularly advantageous if the rotor head is 5 trimmed in such a way that the gyroplane is stabilized in a stable flight attitude when at least one of the hydraulic lines is free from pressure. In other words, that means that when one or all of the hydraulic lines are, for example on account of an accident, no longer 10 able to transmit a pressure from the respective control cylinder to the respective actuator cylinder, the rotor assumes a position relative to the fuselage such that the gyroplane can be landed by reducing a motor power of a motor. 15 The invention will be described hereinafter in greater detail based on exemplary embodiments and with reference to the appended drawings, in which: 20 Figure 1 is a schematic view of a first embodiment of the invention; Figure 2 is a schematic view of a second embodiment of the invention; 25 Figure 3 is a view of a third embodiment of the invention; Figure 4 is a schematic view of a second embodiment of 30 a gyroplane according to the invention; Figures 5a, 5b, 5c and 5d are detailed views of the damping device of the gyroplane as shown in Figure 4; 35 Figure 6 is a side view of a gyroplane according to a second embodiment of the invention; - 15 Figure 7 shows a rotor head of a gyroplane according to the invention in accordance with a second embodiment; 5 Figure 8a is a schematic view of a roll axis control device of the hydraulic control device of the gyroplane according to Figure 2; and Figure 8b shows a pitch axis control device of the 10 hydraulic control device of the gyroplane according to Figure 2. Figure 1 shows a gyroplane 10 according to the invention with a payload rest 12 in the form of a 15 pilot seat, a rotor 14 and a supporting structure 16 connecting the payload rest 12 to the rotor 14. The rotor 14 encompasses all the components which rotate during flight operation of the gyroplane 10. The gyroplane 10 is driven by a motor 18 which interacts 20 with a propeller (not shown) and is mounted on a motor rest 19. The supporting structure 16 has a damping device 20 comprising, for its part, a rotary joint in the form 25 of a ball joint 22. In addition, the damping device has a first damping element 24.1 and a second damping element 24.2 in the form of piezo actuators which are arranged opposing each other. Two further damping elements, which are also attached opposing each other, 30 are not shown. The damping elements 24 act both as actuators and as sensors which detect a torque acting on the rotary joint 22 and apply a countertorque, so that an oscillation of the rotor 14 reaches the payload rest only in damped form. 35 During flight, the rotor 14 performs relative to the supporting structure 16 a wobbling movement which is - 16 described in the coordinate system of the gyroplane. The gyroplane 10 has a vertical axis H, a longitudinal axis L and a transverse axis Q which each lie perpendicularly to one another and relate to the 5 position of the gyroplane during flight. In the embodiment according to Figure 1, the damping device 20 is embodied to damp the transmission of a pitching movement of the rotor to the seat 12. The 10 term "a pitching movement" refers to the fact that the rotor 14 oscillates about the transverse axis Q. That corresponds to a movement of the supporting structure 16 in a plane EN running perpendicularly to the transverse axis Q. 15 It is possible to provide further damping elements, so that a transmission of an oscillation of the rotor 14 about the longitudinal axis L to the supporting structure 16 is damped. A rolling movement of the 20 supporting structure 16 is in this way damped. Figure 2 shows a further embodiment of a gyroplane 10 according to the invention in which the damping device 20 comprises a plurality of piezo actuators 24, of 25 which the piezo actuators 24.1, 24.2 are indicated. The piezo actuators 24 are connected to an activation unit 25 by means of which an electrical voltage can be applied to them, so that they are adjustably lengthened or shortened. 30 The piezo actuators are arranged between a first supporting plate 26 and a second supporting plate 28. The second supporting plate 28 is rigidly connected to a rotor head 32, whereas the first supporting plate 26 35 is rigidly connected to a supporting arm 34 to which the payload rest 12, in the form of the pilot seat, is also fastened.

- 17 The damping device 20 can comprise position sensors for detecting a position of the two supporting plates 26 and 28 relative to each other. Position data 5 collected by the position sensors are collected by the activation unit, whereupon the activation unit applies voltage to the piezo actuators 24 such that the oscillation of the pilot seat 12, i.e. the cyclic acceleration thereof, is reduced. In addition, a 10 plurality of springs 30.1, 30.2, ... can be arranged between the first supporting plate 26 and the second supporting plate 28. According to an alternative embodiment, the damping 15 device comprises damping elements in the form of rubbery-elastic elements. Provision may be made for the damping elements to be adjustable in their rigidity. That can be implemented, for example, in that the damping elements can be pretensioned via a 20 pretensioning device, so that the damping elements can be made harder by increasing a pretensioning force. Figure 3 shows an alternative embodiment in which the damping device 20 comprises a rotary joint which is 25 pivotable only about one axis of rotation, namely the transverse axis. That has the advantage that the rigidity of the supporting structure 16 with the damping device 20 is weakened only slightly by said damping device. 30 Because the rotor 14 performs in flight a pitching movement about the transverse axis Q, the pilot seat 12 moves up and down with a vertical movement component, that is to say with a periodic acceleration 35 a. The damping device 20 is embodied in such a way that an amplitude A of the acceleration a(t) (t - 18 denotes time) decreases by at least 50 %; this reduces the strain placed on the pilot. The damping device 20 is embodied in such a way that a 5 natural frequency fL with respect to a plane perpendicular to the longitudinal axis L and a natural frequency fQ with respect to the plane EN perpendicular to the transverse axis Q are greater than 14 hertz. 10 Figure 4 shows a particularly advantageous embodiment of a gyroplane according to the invention in which the payload rest 12 is fastened to a self-supporting cockpit 36. The cockpit 36 is fastened to a fuselage side supporting element 38. The fuselage-side 15 supporting element 38 is connected to a rotor-side supporting element 40 to which the rotor head 32 is attached. The fuselage-side supporting element 38 and the rotor 20 side supporting element 40 are connected to each other in a damping device 20. Figure 5a is a detailed view of the damping device 20. The damping device 20 comprises a rubbery-elastic 25 element 42.1 which is embodied in a hollow cylindrical manner. The rubbery-elastic element is arranged in a sleeve 44.1 fastened to the fuselage-side supporting element 38. 30 Figure 5b is a view rotated through 90' about the longitudinal axis. The rubbery-elastic element 42.1 is penetrated by a bolt 46.1 attached to the rotor-side supporting 35 element 40.

- 19 In addition, the damping device 20 comprises at least a second rubbery-elastic element 42.2 which is arranged in a second sleeve 44.2 and is penetrated by a second bolt 46.2. The second bolt 46.2 is also 5 connected, for example welded or screwed, to the rotor-side supporting element 40. The fuselage-side supporting element 38, the rotor side supporting element 40 and the damping device are 10 part of the supporting structure 16 having a supporting structure longitudinal axis LT. The fuselage-side supporting element 38 and the rotor-side supporting element 48 mesh with each other, so that an oscillation in the direction of the supporting 15 structure longitudinal axis LT is effectively damped by the damping device 20. On the other hand, oscillations perpendicular to the supporting structure longitudinal axis LT are damped to a much lesser extent, so that rigidity is increased in these transverse directions. 20 In this way, oscillations which are particularly unpleasant for the pilot are damped in a particularly effective manner, whereas the rigidity necessary for the stability of the gyroplane is preserved in the transverse direction. 25 Figure 5c is a perspective glass body view of the damping device (20) . Figure 5d is a plan view in a glass body view of the damping device according to Figure 5c. 30 Figure 6 shows a gyroplane 10 according to the invention in accordance with a second embodiment, the damping device of which is not shown. The gyroplane has a longitudinal axis L and a transverse axis Q and 35 comprises a rotor 112 and a propeller 114 which is part of a fuselage 116. The fuselage 116 is connected to the rotor 112 via a rotor head 118.

- 20 Figure 7 shows the rotor head 118 comprising a roll axis 120 and a pitch axis 122. The rotor head 118 is tiltable relative to the fuselage 116 by means of a 5 control device 124. The control device 124 comprises a control stick 126, a roll axis actuator cylinder 128 and a pitch axis actuator cylinder 130. The roll axis actuator cylinder 128 is connected to a roll axis control cylinder 136 via a first hydraulic line 132 10 and a second hydraulic line 134. The roll axis actuator cylinder 128 is, as is indicated schematically in Figure 7, connected to the control stick 126 in such a way that a movement of the 15 control stick 126 in the transverse direction, which is indicated by an arrow Pl pointing upward from the plane of the drawing, leads to the hydraulic liquid 138 flowing as indicated by an arrow P2 in the first hydraulic line 132 and flowing as indicated by an 20 arrow P3 in the second hydraulic line 134. Subsequently, in Figure 7, a piston 140 of the roll axis actuator cylinder 128 is pressed downward, so that the rotor head 118 tilts about the roll axis 120. For this purpose, the roll axis actuator cylinder is 25 fastened at a first end 142 to a connecting piece 144 arranged below the pitch axis 122. As a result, a pitching of the rotor head 118 does not lead to rolling of the rotor head 118. 30 A lower end of the pitch axis actuator cylinder 130 is connected to a first end of a pitch axis control cylinder 148 via a third hydraulic line 146. A second end of the pitch axis control cylinder 148 is connected to an upper end of the pitch axis actuator 35 cylinder 130 via a fourth hydraulic line 150. If the control stick 126 is moved in the longitudinal direction as indicated by an arrow P4, this movement - 21 is transmitted to a piston of the pitch axis control cylinder 148 via a rod 152. As a result, hydraulic liquid 154 is moved in the hydraulic lines 146, 150 and the rotor head 118 reduces its pitch angle. That 5 is to say that in Figure 7 the rotor 112 pivots to the right about the pitch axis 122. Above the roll axis 120, the pitch axis actuator cylinder 130 is mounted on a connecting piece 156. 10 When the rotor head therefore pivots about its roll axis 120, then the pitch angle is not substantially altered. Figure 8a is a schematic view of a roll axis control 15 device 158 which is part of the control device 124. The roll axis control device 158 comprises, in addition to the roll axis actuator cylinder 128, the roll axis control cylinder 136 and also the hydraulic lines 132, 134, a pressurizer 160. The pressurizer 160 20 has a membrane 162 separating a compressed gas chamber 164 from the hydraulic liquid 138. The compressed gas chamber 164 is filled with a pressurized gas, for example nitrogen. The gas pressure may be above 130 bar, for example. 25 The first hydraulic line 132 and the second hydraulic line 134 can be connected to each other and separated from each other via a connecting valve 166. Once the connecting valve 166 is opened, then the control stick 30 126 can be moved without that leading to a movement of the piston 140 of the roll axis actuator cylinder 130. Figure 8b shows a pitch axis control device 168 with the pitch axis control cylinder 148, the pitch axis 35 actuator cylinder 130 and the hydraulic lines 146, 150. The remaining components are denoted by the same reference numerals as the corresponding components of - 22 the roll axis control device 158 (Figure 8a) plus an apostrophe. Provision may be made for both control systems to be connected to each other via a connecting valve (not shown), so that one pressurizer 160 is 5 sufficient.

- 23 List of reference numerals 10 gyroplane 12 payload rest 5 14 rotor 16 supporting structure 18 motor 20 damping device 10 22 rotary joint 24 damping element 26 supporting plate 28 supporting plate 15 30 spring 32 rotor head 34 supporting arm 36 cockpit 38 fuselage-side supporting element 20 40 rotor-side supporting element 42 rubbery-elastic element 44 sleeve 46 bolt 25 112 rotor 114 propeller 116 fuselage 118 rotor head 30 120 roll axis 122 pitch axis 124 control device 126 control stick 35 128 roll axis actuator cylinder - 24 130 pitch axis actuator cylinder 132 first hydraulic line 134 second hydraulic line 136 roll axis control cylinder 5 138 hydraulic liquid 140 piston 142 first end 144 connecting piece 10 146 third hydraulic line 148 pitch axis control cylinder 150 fourth hydraulic line 152 rod 15 154 hydraulic liquid 156 connecting piece 158 roll axis control device 160 pressurizer 20 162 membrane 164 compressed gas chamber 166 connecting part 168 pitch axis control device 25 H vertical axis L longitudinal axis LT supporting structure longitudinal axis Q transverse axis

Claims

1. Gyroplane with (a) a payload rest; 5 (b) a rotor; and (c) a supporting structure connecting the rotor to the payload rest, wherein the supporting structure has a damping device for damping oscillations originating from the rotor, a 10 rotor-side supporting element and a fuselage-side supporting element, wherein the damping device has a rubbery-elastic element and a bolt penetrating the rubbery-elastic element, and wherein a flow of force from the rotor-side supporting element into the 15 fuselage-side supporting element running through the bolt penetrating the rubbery-elastic element and the rubbery-elastic element. 20

2. Gyroplane according to Claim 1, wherein - the gyroplane has a centre of mass (M) during operation and - the damping device is arranged at a height between a centre of mass height (hM) of the centre of mass (M) 25 and a rotor height of the rotor.

3. Gyroplane according to one of the preceding claims, wherein the damping device comprises at least one active damping element. 30

4. Gyroplane according to one of the preceding claims, wherein the damping device comprises at least one passive damping element. - 26 5. Gyroplane according to Claim 3 or 4, wherein the at least one damping element has an adjustable damping.

5

6. Gyroplane according to one of Claims 3 to 5, wherein the damping device is embodied in such a way that a first natural frequency (f) of the supporting structure with respect to an oscillation in a plane perpendicular to the longitudinal axis (L) is at least 10 14 hertz.

7. Gyroplane according to one of Claims 3 to 6, wherein the damping device is embodied in such a way that a first natural frequency of the supporting 15 structure with respect to an oscillation in a plane perpendicular to the transverse axis (Q) is at least 14 hertz.

8. Gyroplane according to one of the preceding 20 claims, wherein the damping device is embodied for damping oscillations which originate from the rotor and cause a movement of the payload rest with a vertical movement component. 25

9. Gyroplane according to one of the preceding claims, characterized by (a) a rotor head and 30 (b) a hydraulic control device for tilting the rotor head.

10. Gyroplane according to Claim 9, wherein the control device has 35 (i) a control stick, - 27 (ii) at least one control cylinder which is connected to the control stick, and (iii) an actuator cylinder, (iv) the actuator cylinder being connected to the at 5 least one control cylinder and the rotor head in such a way that a movement of the control stick leads to a tilting of the rotor head.

11. Gyroplane according to one of Claims 9 to 11, 10 wherein the control device has (i) a first hydraulic line connecting a first end of the control cylinder to a first end of the actuator cylinder, (ii) a second hydraulic line connecting a second end 15 of the control cylinder to a second end of the actuator cylinder, and (iii) a connecting valve for connecting and separating a first hydraulic line and second hydraulic line. 20

12. Gyroplane according to one of Claims 9 to 11, wherein the hydraulic control device is embodied in such a way that a pressure fluctuation in the control cylinder at 18 hertz leads to a pressure fluctuation in the actuator cylinder, the amplitude of which is 25 less by at least 70 %.

13. Gyroplane according to Claim 12, wherein a first hydraulic line cross section of the first hydraulic line and/or a second hydraulic line cross 30 section of the second hydraulic line is so small that the pressure fluctuation in the control cylinder at 18 hertz leads to the pressure fluctuation in the actuator cylinder, the amplitude of which is less by at least 70 %. 35 - 28

14. Gyroplane according to one of Claims 9 to 13, wherein the control device (i) comprises a roll axis control device having (ii) a roll axis actuator cylinder, which is connected 5 to the rotor head, and (iii) a roll axis control cylinder, which is connected to the control stick in such a way that a movement of the control stick in the transverse direction (Q) leads to a tilting of the rotor head about a roll axis 10 of the gyroplane, and (iv) comprises a pitch axis control device having (v) a pitch axis actuator cylinder, which is connected to the rotor head, and (vi) a pitch axis control cylinder, which is connected 15 to the control stick in such a way that a movement of the control stick in the longitudinal direction (L) leads to a tilting of the rotor head about a pitch axis of the gyroplane.