CN110139799A

CN110139799A - More gyroplanes

Info

Publication number: CN110139799A
Application number: CN201780081427.0A
Authority: CN
Inventors: 平城大典; 吉原正典; 吉山博章; 松村大祐; 丹羽友晴; 四宫隆
Original assignee: Yamaha Motor Co Ltd
Current assignee: Yamaha Motor Co Ltd
Priority date: 2016-12-28
Filing date: 2017-10-03
Publication date: 2019-08-16
Anticipated expiration: 2037-10-03
Also published as: KR102164908B1; CN110139799B; WO2018123186A1; JP6454317B2; JP2018108774A; KR20190075126A

Abstract

More gyroplanes (10) include 8 rotors for being separated from each other compartment of terrain configuration in a manner of surrounding central point (P1) in a top view and the dispensing device (52) with multiple nozzles (62,64).In top view, 8 rotors are configured to, including direction of rotation and symmetrical symmetrical about the 1st line (L1) line, configure the rotor of identical quantity in the left and right sides of the 1st line (L1).In side view, the outlet (62a, 64a) of each nozzle (62,64) is located at the position than rotor on the lower.In the left and right sides of the 1st line (L1), in top view, the line of the rotary shaft of the rotor of the rotary shaft and rearmost of the circular arc and tangent line in the rotational trajectory by each rotor front end and the rotor by forefront is formed by the outlet (62a, 64a) of each nozzle (62,64) of setting in the 1st region (R1, R2).

Description

More gyroplanes

Technical field

The present invention relates to more gyroplanes, especially more gyroplanes for medicament spreading etc..

Background technique

Patent document 1 discloses an example of this prior art.

Patent document 1 discloses the flight formula working rig (more gyroplanes) of wireless operating comprising in side opposite each other To the engine of a pair of of the rotor (rotor) and driving of the rotation rotor, a pair of of rotor is arranged side-by-side in the same plane, Middle lower portion between a pair of of rotor is configured with engine.The flight formula working rig further includes pharmacy jar, medicine feeding apparatus and spreads Stringing.It dispenses pipe to be arranged to extend in left and right directions in the lower section of a pair of of rotor, two outboard end of left and right for dispensing pipe is closed, and is being spread The lower end surface of stringing is formed with multiple spouts along left and right directions at intervals.From pharmacy jar via medicine feeding apparatus The medicament for being supplied to spreading pipe is discharged downwards from the spout for dispensing pipe.

Existing technical literature

Patent document

Patent document 1: Japanese Unexamined Patent Publication 10-86898 bulletin

Summary of the invention

Subject to be solved by the invention

During the medicament (liquors such as herbicide and pesticide) that such more gyroplanes carry out shown in patent document 1 dispenses, rotor The characteristic that the down current (hereinafter referred to as " down wash ") of generation dispenses medicament has a huge impact.Specifically, more The down wash that a rotor generates is generated sometimes according to the direction of rotation of rotor and rotation speed from the formation of rotor front end The asymmetry etc. of vortex and external wind-induced wind-force (flow velocity) generates medicament to the uneven attached of field object sometimes ?.In addition, compared with the unmanned helicopter with main rotor and anti-torque rotor, dispensed using the medicament of more gyroplanes, body Weight is small, therefore the wind-force of down wash is weak, and medicament natural wind easy to use disperses, therefore object of the medicament to field sometimes Adhesion amount tail off.

Then, the main object of the present invention is to provide more gyroplanes, inhibits medicament unevenly attached to the object in field And ensure medicament to the adhesion amount of object.

Means for solving the problems

Viewpoint according to the present invention provides a kind of more gyroplanes comprising: 4 × N (integer that N is 2 or more) a rotor, Each rotor is separated from each other compartment of terrain configuration in a manner of surrounding central point when vertical view；4 × N number of rotor branch of each rotor is supported respectively Bearing portion；Support the main supporting part of each rotor supporting part；And dispensing device comprising for multiple nozzles of medicament to be discharged, overlook When, 4 × N number of rotor is configured to about the 1st line extended in the longitudinal direction by central point be that line is symmetrical, including rotation side To be also it is symmetrical, configure the rotor of identical quantity in the left and right sides of the 1st line, when side view, the outlet of each nozzle is located at Than 4 × position of N number of rotor on the lower, in the left and right sides of the 1st line, when vertical view, in the rotational trajectory by each rotor front end Circular arc and tangent line and the 1st is formed by by the line of the rotary shaft of the rotor of the rotary shaft and rearmost of the rotor of forefront In region, the outlet of each nozzle is set.

In the present invention, a rotor of 4 × N (N be 2 or more integer) in a top view in a manner of surrounding central point mutually every Compartment of terrain configuration is opened, and is configured to, including direction of rotation symmetrical about the 1st line line extended by central point and in front-rear direction It is also symmetrical, and configures the rotor of identical quantity in the left and right sides of the 1st line.Thereby, it is possible to make in more gyroplanes The down wash that the left and right sides of 1st line, rotor generate is identical, is able to suppress the uneven of the object for generating medicament to field Attachment.In addition, becoming the high wind region of down wash in 2 the 1st regions, and then by using up to 8 or more rotors, energy Enough enhance down wash itself.Therefore, by the way that the outlet for being located at each nozzle of position than rotor on the lower is set to the 1st In region, medicament can be dispensed with strong pressure by strong down wash from the overhead in field, be able to suppress dispersing for medicament So that it is guaranteed that adhesion amount of the medicament to the object in field.

Preferably, when vertical view, the outlet of each nozzle is arranged to not Chong Die with the rotary shaft of each rotor.By with The outlet of each nozzle is not arranged in the mode Chong Die with the rotary shaft of each rotor in top view, that is, is removing without becoming undershoot The outlet of each nozzle is arranged in the region of the lower zone of the rotary shaft of each rotor in the high wind region of air-flow, can be by strong Down wash dispenses medicament well.

Moreover it is preferred that the outlet of each nozzle is arranged in the region for the lower zone for removing rotor supporting part.Pass through In the region of the lower zone for the rotor supporting part for removing the high wind region without becoming down wash, the discharge of each nozzle is set Mouthful, it can be by the strong good spreading medicament of down wash.

It and then preferably, further include the 4 × N number of driving source for respectively driving each rotor, driving source and rotor are set to together On axis, the outlet of each nozzle is set in the region for the lower zone for removing driving source.By removing without becoming lower qi of chong channel ascending adversely The outlet of each nozzle is arranged in the region of the lower zone of the driving source in the high wind region of stream, can be good by strong down wash Dispense medicament well.

Preferably, at the left and right sides of the 1st line, vertical view, in the 2nd area for linking the rotary shaft of each rotor and being formed The outlet of each nozzle is set in domain.Because becoming the stronger region of down wash in the 2nd region in the 1st region, lead to It crosses and the outlet of each nozzle is set in the 2nd region, medicament can be dispensed by stronger down wash, and be able to suppress Dispersing for medicament and further ensure that medicament to the adhesion amount of the object in field.

Moreover it is preferred that 4 × N number of rotor includes 4 single rotors and 2 groups of coaxial two-direction rotors, when vertical view, 4 Dan Xuan The wing and 2 groups of coaxial two-direction rotors are configured in a manner of forming hexagon when linking respective rotation center, when vertical view, single rotor 1 is respectively configured in by the 1st line and the region marked off with the 2nd line that the mode orthogonal with the 1st line extends in the lateral direction, When vertical view, 2 groups of coaxial two-direction rotors are configured on the 2nd line.By using 8 or more the rotors including 2 groups of coaxial two-direction rotors, Stronger down wash can be generated, dispenses medicament by the strong down wash.

And then preferably, when vertical view, the outlet of each nozzle is configured on the 2nd line.Because becoming lower qi of chong channel ascending adversely on the 2nd line The region more reinforced is flowed, so can dispense by strong down wash by the way that the outlet of each nozzle to be set on the 2nd line Medicament.

Preferably, when vertical view, the outlet of each nozzle is configured in the rotational trajectory of each coaxial two-direction rotor.Because each Become the stronger region of down wash in the rotational trajectory of coaxial two-direction rotor, so by the way that the outlet of each nozzle to be set to In the rotational trajectory of each coaxial two-direction rotor, medicament can be dispensed by stronger down wash.

Moreover it is preferred that being greater than from the distance of rotary shaft to the 1st line of coaxial two-direction rotor from single rotor when overlooking Rotary shaft to central point distance.By making the distance from the rotary shaft of coaxial two-direction rotor to the 1st line than from single rotor Rotary shaft can expand the range that can dispense medicament to the distance of central point.

And then preferably, 4 × N number of rotor includes 8 single rotors, and when vertical view, 8 single rotors are with will be in respective rotation The heart forms octagonal mode and configures when linking, when vertical view, single rotor by the 1st line and in the mode orthogonal with the 1st line on a left side 2 are respectively configured in the region that the 2nd line that right upwardly extends marks off.By using 8 or more single rotors, each rotor can be made Rotor diameter it is small, and thrust required for each rotor can be made smaller.

Preferably, in the left and right sides of the 1st line, the Dan Xuan of single rotor and rearmost in forefront when forming side view The 3rd region for rotating between centers and the rotational trajectory of single rotor is overlapped in front-rear direction observation of the wing, the outlet of each nozzle exist The left and right sides of 1st line is arranged in when looking down in the 3rd region.The 3rd region in 1st region, wherein especially the 2nd region with The region of 3rd region overlapping, becomes the stronger region of down wash, so by the way that the outlet of each nozzle is set to the 1st area The 3rd region, particularly the 2nd region in the domain region Chong Die with the 3rd region can dispense medicine by stronger down wash Agent.

It is furthermore preferred that overlook when, the outlet of each nozzle be configured on the 2nd line other than position, the row of each nozzle Outlet is arranged to when advancing and can change when retreating its direction and/or position.Under normal circumstances, relative to more gyroplanes Direction of travel, posterior region down wash compared with front area are strong.Therefore, court in the front-back direction is not changed in the overhead in field In the more gyroplanes for dispensing medicament when advancing and when retreating to ground, other than the outlet of each nozzle is configured on the 2nd line Position in the case where, by advance when and retreat when enable nozzle outlet direction and/or position change, can Consider the difference of the down wash of wind or the front area and posterior region relative to direction of travel medicament is discharged, it can be by Strong down wash similarly dispenses medicament when advancing and when retreating.

It and then preferably, further include the 4 × N number of driving source for respectively driving each rotor, 4 × N number of rotor includes single rotor, Single rotor is set to the adjacent bottom portions of driving source.The outlet of nozzle hour at a distance from the vertical direction of single rotor, from spray The medicament that the outlet of mouth gushes out is easy to advance before diffusion by down wash.Therefore, single rotor is set to driving source Adjacent bottom portions when, be easy configure nozzle in such a way that the outlet of nozzle is close to single rotor, ejected from the outlet of nozzle Medicament before diffusion be easy by down wash.In addition, including the strong coaxial two-direction rotor of down wash, benefit With the synergy with coaxial two-direction rotor, medicament can be increased to the adhesion amount of the object in field.

Further it is provided that a kind of more gyroplanes comprising: 4 groups of coaxial two-direction rotors, when vertical view, each coaxial two-direction rotor was to wrap The mode for enclosing central point is separated from each other compartment of terrain configuration；8 rotor supporting parts of each coaxial two-direction rotor are supported respectively；Bearing is each The main supporting part of rotor supporting part；And dispensing device comprising for being discharged multiple nozzles of medicament, when vertical view, 4 groups coaxially double Be configured to about being by the 1st line extended in the longitudinal direction of central point that line is symmetrical to rotor, including direction of rotation and It is symmetrical, and configured in a manner of forming quadrangle when linking respective rotation center, when vertical view, coaxial two-direction rotor exists By respectively configuring 1 group in the 1st line and the region marked off with the 2nd line that the mode orthogonal with the 1st line extends in the lateral direction, respectively Position of the outlet of nozzle in side view positioned at than 4 groups coaxial two-direction rotors on the lower, and being set to when vertical view will be each coaxial In the 4th region that the rotary shaft of two-way rotor links.

In the present invention, by using 4 groups of coaxial two-direction rotors, strong down wash can be generated, by the strong undershoot Air-flow dispenses medicament.In addition, because the 4th region becomes the strong region of down wash, by setting the outlet of each nozzle It is placed in the 4th region, medicament can be dispensed by strong down wash.

Preferably, the outlet of multiple nozzles is configured to about the 1st line be that line is symmetrical.In this case, can be further Inhibit to generate uneven attachment of the medicament to the object in field.

It is furthermore preferred that when overlooking, in the 4th region 5th region Chong Die with the rotational trajectory of each coaxial two-direction rotor The outlet of interior each nozzle of setting.Because the 5th region becomes the stronger region of down wash, by by the discharge of each nozzle Mouth is set in the 5th region, can dispense medicament by stronger down wash.

Preferably, the outlet of nozzle by about the 2nd line be it is symmetrical in a manner of match respectively in the front and rear sides of the 2nd line 2 or more are set, medicament can be discharged from the nozzle of rear side in the direction of travel that multiple nozzles are disposed relative to more gyroplanes.Such as Upper described, relative to the direction of travel of more gyroplanes, posterior region, down wash is stronger compared with front area.Therefore, in field The overhead on ground does not change to be dispensed in more gyroplanes of medicament to direction when advancing and when retreating in the front-back direction, is configuring meter 4 It is a with top nozzle in the case where, the outlet of nozzle can by about the 2nd line be it is symmetrical in a manner of in the front and rear sides of the 2nd line 2 or more are respectively configured, and the direction of travel that multiple nozzles can be disposed relative to more gyroplanes can be from the spray of rear side Medicament is discharged in mouth.Therefore, it can be switched to and medicament be discharged from the nozzle of rear side relative to direction of travel, it can be by strong undershoot Air-flow similarly dispenses medicament when advancing and when retreating.

Invention effect

In accordance with the invention it is possible to inhibit to generate uneven attachment of the medicament to the object in field, and it can ensure medicament To the adhesion amount of object.

Detailed description of the invention

Fig. 1 is the perspective view for indicating more gyroplanes of one embodiment of the present invention.

Fig. 2 indicates more gyroplanes of the embodiment of Fig. 1, and (a) is that plane schematic thinking, (b) are that front schematic thinking, (c) are Side schematic thinking.

Fig. 3 is the discharge for indicating the direction of rotation, high wind region and nozzle of the rotor of more gyroplanes of embodiment of Fig. 1 The schematic thinking of the position of mouth etc..

Fig. 4 is to indicate that the down wash of more gyroplanes of embodiment of Fig. 1 is formed by rotor lower section 0cm (under rotor Surface) height at velocity flow profile schematic thinking.

Fig. 5 is to indicate that the down wash of more gyroplanes of embodiment of Fig. 1 is formed by the height of 10cm below rotor The schematic thinking of the velocity flow profile at place.

Fig. 6 is to indicate that the down wash of more gyroplanes of embodiment of Fig. 1 is formed by the height of 30cm below rotor The schematic thinking of the velocity flow profile at place.

Fig. 7 is to indicate that the down wash of more gyroplanes of embodiment of Fig. 1 is formed by the height of 50cm below rotor The schematic thinking of the velocity flow profile at place.

Fig. 8 is to indicate that the down wash of more gyroplanes of embodiment of Fig. 1 is formed by the height of 70cm below rotor The schematic thinking of the velocity flow profile at place.

Fig. 9 is to indicate that the down wash of more gyroplanes of embodiment of Fig. 1 is formed by the height of 90cm below rotor The schematic thinking of the velocity flow profile at place.

Figure 10 is the perspective view for indicating more gyroplanes of other embodiments of the invention.

Figure 11 indicates more gyroplanes of the embodiment of Figure 10, and it is front schematic thinking, (c) that (a), which is plane schematic thinking, (b), It is side schematic thinking.

Figure 12 is the direction of rotation for indicating the rotor of more gyroplanes of embodiment of Figure 10, the row in high wind region and nozzle The schematic thinking of the position of outlet etc..

Figure 13 is to indicate that the down wash of more gyroplanes of embodiment of Figure 10 is formed by 0cm (rotor below rotor Lower surface) height at velocity flow profile schematic thinking.

Figure 14 is to indicate that the down wash of more gyroplanes of embodiment of Figure 10 is formed by the height of 10cm below rotor The schematic thinking of velocity flow profile at degree.

Figure 15 is to indicate that the down wash of more gyroplanes of embodiment of Figure 10 is formed by the height of 30cm below rotor The schematic thinking of velocity flow profile at degree.

Figure 16 is to indicate that the down wash of more gyroplanes of embodiment of Figure 10 is formed by the height of 50cm below rotor The schematic thinking of velocity flow profile at degree.

Figure 17 is to indicate that the down wash of more gyroplanes of embodiment of Figure 10 is formed by the height of 70cm below rotor The schematic thinking of velocity flow profile at degree.

Figure 18 is to indicate that the down wash of more gyroplanes of embodiment of Figure 10 is formed by the height of 90cm below rotor The schematic thinking of velocity flow profile at degree.

Figure 19 is the perspective view for indicating more gyroplanes of other embodiments of the invention.

Figure 20 indicates more gyroplanes of the embodiment of Figure 19, and it is front schematic thinking, (c) that (a), which is plane schematic thinking, (b), It is side schematic thinking.

Figure 21 is the direction of rotation for indicating the rotor of more gyroplanes of embodiment of Figure 19, the row in high wind region and nozzle The schematic thinking of the position of outlet etc..

Figure 22 is to indicate that the down wash of more gyroplanes of embodiment of Figure 19 is formed by 0cm (rotor below rotor Lower surface) height at velocity flow profile schematic thinking.

Figure 23 is to indicate that the down wash of more gyroplanes of embodiment of Figure 19 is formed by the height of 10cm below rotor The schematic thinking of velocity flow profile at degree.

Figure 24 is to indicate that the down wash of more gyroplanes of embodiment of Figure 19 is formed by the height of 30cm below rotor The schematic thinking of velocity flow profile at degree.

Figure 25 is to indicate that the down wash of more gyroplanes of embodiment of Figure 19 is formed by the height of 50cm below rotor The schematic thinking of velocity flow profile at degree.

Figure 26 is to indicate that the down wash of more gyroplanes of embodiment of Figure 19 is formed by the height of 70cm below rotor The schematic thinking of velocity flow profile at degree.

Figure 27 is to indicate that the down wash of more gyroplanes of embodiment of Figure 19 is formed by the height of 90cm below rotor The schematic thinking of velocity flow profile at degree.

Specific embodiment

In the following, being described with reference to embodiments of the present invention.

Referring to Figures 1 and 2, more gyroplanes 10 of one embodiment of the present invention include main supporting part 12.Main supporting part 12 Including the columned spoke portion 16,18,20,22,24,26 of disk-shaped hub 14 and 6.Spoke portion 16~26 is in hub 14 Side is arranged with separating roughly equal interval (substantially 60 degree interval) in the circumferential, and radial extends.

In the front end in spoke portion 16 and 18 it is respectively arranged below driving source 28 and 30, in the front end in spoke portion 20 Above and below be respectively set driving source 32a and 32b, be respectively arranged below driving source 34 in the front end in spoke portion 22 and 24 With 36, driving source 38a and 38b are respectively set above and below the front end in spoke portion 26.In the embodiment, as drive Dynamic source 28,30,32a, 32b, 34,36,38a and 38b use motor.

Driving source 28 and 30 respectively drives single rotor unit 40 and 42, and driving source 32a and 32b drive coaxial two-direction rotor list Member 44, driving source 34 and 36 respectively drive single rotor unit 46 and 48, and driving source 38a and 38b drive coaxial two-direction rotor unit 50。

Single rotor unit 40,42,46 and 48 with 1 rotor respectively includes rotor supporting part 40a, 42a, 46a and 48a And single rotor 40b, 42b, 46b and 48b.Rotor supporting part 40a, 42a, 46a and 48a are respectively in spoke portion 16,18,22 and 24 The lower section of front end extend in the up-down direction, rotated and drive by driving source 28,30,34 and 36.Single rotor 40b, 42b, 46b Be supported on the lower end of rotor supporting part 40a, 42a, 46a and 48a respectively with 48b, with rotor supporting part 40a, 42a, 46a and 48a rotates together.Herein, single rotor 40b, 42b, the 46b and 48b adjacent bottom portions in driving source 28,30,34 and 36 and drive respectively Dynamic source 28,30,34 and 36 is set on coaxial.Rotor supporting part 40a, 42a, 46a, 48a and aftermentioned rotor supporting part 44a, 44b, 50a, 50b work as the rotary shaft of the rotor supported.

Coaxial two-direction rotor unit 44 with 2 rotors includes that 1 group of rotor supporting part 44a and 44b and 1 group are coaxially double To rotor 44c and 44d.Rotor supporting part 44a extends in the up-down direction in the top of the front end in spoke portion 20, by driving source 32a rotation driving.Coaxial two-direction rotor 44c is supported on the upper end of rotor supporting part 44a, revolves together with rotor supporting part 44a Turn.Rotor supporting part 44b extends in the up-down direction in the lower section of the front end in spoke portion 20, is rotated and drives by driving source 32b. Coaxial two-direction rotor 44d is supported on the lower end of rotor supporting part 44b, rotates together with rotor supporting part 44b.Equally, have 2 The coaxial two-direction rotor unit 50 of a rotor include 1 group of rotor supporting part 50a and 50b and 1 group of coaxial two-direction rotor 50c and 50d.Rotor supporting part 50a extends in the up-down direction in the top of the front end in spoke portion 26, is rotated and drives by driving source 38a It is dynamic.Coaxial two-direction rotor 50c is supported on the upper end of rotor supporting part 50a, rotates together with rotor supporting part 50a.Rotor branch Bearing portion 50b extends in the up-down direction in the lower section of the front end in spoke portion 26, is rotated and drives by driving source 38b.Coaxial two-direction Rotor 50d is supported on the lower end of rotor supporting part 50b, rotates together with rotor supporting part 50b.Herein, driving source 32a, 32b, 38a and 38b are set on coaxial with coaxial two-direction rotor 44c, 44d, 50c and 50d respectively.

Therefore, rotor supporting part 40a, 42a, 44a, 44b, 46a, 48a, 50a and 50b respectively via driving source 28,30, 32a, 32b, 34,36,38a and 38b are supported by main supporting part 12.In addition, single rotor 40b, 42b, 46b, 48b and coaxial two-direction rotation The wing 44c, 44d, 50c, 50d are respectively by driving source 28,30,34,36,32a, 32b, 38a and 38b driving.Single rotor 40b, 42b, 46b, 48b are identical with the shape and size of coaxial two-direction rotor 44c, 44d, 50c, 50d.

As described above, more gyroplanes 10 include 4 single rotors 40b, 42b, 46b and 48b and 2 groups of coaxial two-direction rotors 44c, 44d and 50c, 50d are configured to so-called six gyroplane.

Referring to Fig. 2 and Fig. 3, in top view, this 8 rotors are separated from each other compartment of terrain in a manner of surrounding central point P1 and match It sets, is configured to about symmetrical by central point P1 and in the longitudinal direction the 1st line L1 line that extends, including direction of rotation and line Symmetrically, the rotor of identical quantity is configured in the left and right sides of the 1st line L1.

Specifically, in top view, 4 single rotors 40b, 42b, 46b and 48b and 2 groups of coaxial two-direction rotor 44c, 44d and 50c, 50d are configured in a manner of forming hexagon when linking respective rotation center.Central point P1 is the hexagon Center of gravity.In top view, single rotor 40b, 42b, 46b and 48b are being controlled by the 1st line L1 and in the mode orthogonal with the 1st line L1 1 is respectively configured in 4 regions that the 2nd line L2 just upwardly extended is marked off, 2 groups of coaxial two-direction rotor 44c, 44d and 50c, 50d It is configured on the 2nd line L2.In the embodiment, in top view, the 2nd line L2 passes through central point P1.More specifically, top view In, the respective rotary shaft of single rotor 40b and 42b of forefront is configured to than the position of the 2nd line L2 on the front about the 1st line L1 Line is symmetrical, and the respective rotary shaft of single rotor 46b and 48b of rearmost is configured to than the position of the 2nd line L2 rearward about the 1st Line L1 line is symmetrical, and 2 groups of coaxial two-direction rotors 44c, 44d and 50c, the respective rotary shaft of 50d are configured on the 2nd line L2.In Fig. 3 As shown in hollow arrow, in top view, single rotor 40b, 46b and coaxial two-direction rotor 44d, 50c rotate counterclockwise, single rotor 42b, 48b and coaxial two-direction rotor 44c, 50d are rotated clockwise.Accordingly, with respect to single rotor 40b, 42b, 46b, 48b, it is located at and closes Rotor in the symmetrical position central point P1 of more gyroplanes 10 is each identical direction of rotation.

In addition, more gyroplanes 10 include for dispensing the dispensing device 52 of medicament to field, for transmitting/receiving wireless signal The control device (not shown) of antenna 54 and the movement for controlling more gyroplanes 10.Medicament described herein refer to herbicide, The liquid such as fertilizer, water or the granular medicament that field is dispensed.Antenna 54 prolongs upwards from the central portion of main supporting part 12 It stretches, control device is accommodated in main supporting part 12.Dispensing device 52 include the storage tank 56 of medicament, multiple arm piping 58, 60, it for multiple nozzles 62,64 of medicament to be discharged and the medicament in tank 56 is sent to the pump 66 of each nozzle 62,64, and sets It is placed in the lower section of main supporting part 12.Tank 56 is supported by the supporting part 68 extended downward from the central portion of hub 14.Piping 58,60 It is respectively formed as substantially L-shaped, each other on both forward and reverse directions is extended from the side radiation shape of tank 56 and along the 2nd line L2.Nozzle 62,64 front end for being respectively arranged at piping 58,60.Pump 66 is set to the side of tank 56.As shown in Fig. 2, each nozzle 62,64 Outlet 62a, 64a are located in a top view on the 2nd line L2, and the position than above-mentioned 8 rotors on the lower is located in side view.Cause This, the medicament being accommodated in tank 56 is discharged downwards via piping 58,60 from outlet 62a, 64a of nozzle 62,64.

Herein, Fig. 4~Fig. 9 indicates that the down wash of more gyroplanes 10 is formed by the analysis result of velocity flow profile.Fig. 4 table Show the wind speed profile downwards below rotor at the height of 0cm (rotor lower surface), Fig. 5 indicates the height of 10cm below rotor The wind speed profile downwards at place, Fig. 6 indicate the wind speed profile downwards below rotor at the height of 30cm, and Fig. 7 indicates rotation Wind speed profile downwards below the wing at the height of 50cm, Fig. 8 shows the wind downwards at the height of 70cm below rotor Speed distribution, Fig. 9 indicate the wind speed profile downwards below rotor at the height of 90cm.Rotor described herein is single rotor 42b.As analysis condition, it is assumed that the shape that more gyroplanes 10 are flown forwards and in the horizontal direction with flying speed 20km/h State.In Fig. 4~Fig. 9, the size of wind speed downwards is indicated with the depth of black and white tone, the more deep then wind speed of color is bigger, i.e. table Show that down wash is stronger.Aftermentioned Figure 13~Figure 18 and Figure 22~Figure 27 are also the same.

Referring to Fig.1~Fig. 3 is illustrated.In the left side of the 1st line L1, in top view, if single rotor 42b, coaxial two-direction revolve The circular arc of wing 44c (44d) and rotational trajectory S1, S2, S3 of the respective front end single rotor 46b are circular arc T1, T2, T3.If rotation The common tangent line of track S1 and S2 are tangent line U1, if the common tangent line of rotational trajectory S2 and S3 are tangent line U2.If by most The straight line of the rotary shaft of the single rotor 46b of the rotary shaft and rearmost of the single rotor 42b in front is line U3.As shown in figure 4, by justifying Arc T1, T2, T3, tangent line U1, U2 and line U3 are formed by the 1st region R1 (oblique line portion of Fig. 3) high wind strong as down wash Region.Equally, in the right side of the 1st line L1, top view, if single rotor 40b, coaxial two-direction rotor 50c (50d) and single rotor The circular arc of rotational trajectory S4, S5, S6 of the respective front end 48b are circular arc T4, T5, T6.If rotational trajectory S4's and S5 is common Tangent line is tangent line U4, if the common tangent line of rotational trajectory S5 and S6 are tangent line U5.If the rotation of the single rotor 40b by forefront The straight line of the rotary shaft of the single rotor 48b of shaft and rearmost is line U6.By circular arc T4, T5, T6, tangent line U4, U5 and line U6 institute The 1st region R2 (oblique line portion of Fig. 3) formed becomes the strong high wind region of down wash.Therefore, in top view, preferred nozzle 62,64 outlet 62a, 64a is respectively arranged in the 1st region R1, R2.

In addition, as shown in Fig. 4~Fig. 6, in the left side of the 1st line L1, in top view, by single rotor 42b, coaxial two-direction rotor The 2nd region R3 (oblique line portion of Fig. 3) that the respective rotary shaft of 44c (44d) and single rotor 46b links and formed becomes down wash Stronger high wind region.Equally, in the right side of the 1st line L1, top view, by single rotor 40b, coaxial two-direction rotor 50c (50d) The 2nd region R4 (oblique line portion of Fig. 3) for linking with the respective rotary shaft of single rotor 48b and being formed is stronger strong as down wash Wind region.In addition, when observation Fig. 4~Fig. 9, positioned at the down wash of the 2nd region R3, R4 with advance downwards, one side in Fig. 4 To the rear of more gyroplanes 10 is mobile formed on one side around the region that is surrounded by high wind, and with advance downwards, by high wind The region of encirclement becomes smaller, it may thus be appreciated that when vertical view is able to suppress medicament and disperses to more when medicament is discharged from the 2nd region R3, R4 The outside of gyroplane 10 reliably can dispense medicament to the lower section of the flight path of more gyroplanes 10.Therefore, in top view, Outlet 62a, 64a of more preferable nozzle 62,64 are respectively arranged in the 2nd region R3, R4.

In turn, as shown in figure 4, in the left side of the 1st line L1, in top view, the rotation rail of coaxial two-direction rotor 44c (44d) The high wind region strong as down wash in mark S2 (referring to Fig. 3).Equally, coaxial double in the right side of the 1st line L1, top view The high wind region strong as down wash into the rotational trajectory S5 (referring to Fig. 3) of rotor 50c (50d).Therefore, in top view, Outlet 62a, 64a of preferred nozzle 62,64 are respectively arranged at rotational trajectory S2, in S5.

In addition, as shown in Fig. 4, Fig. 6 and Fig. 7, by the rotary shaft of coaxial two-direction rotor 44c (44d) and together in top view Become the stronger high wind region of down wash on the straight line of the rotary shaft of the two-way rotor 50c (50d) of axis.In other words, in top view Position on 2nd line L2 becomes the stronger high wind region of down wash.Therefore, in top view, the outlet of preferred nozzle 62,64 62a, 64a are respectively arranged on the 2nd line L2 (part in especially the 1st region R1, R2).

As shown in Figure 4 and Figure 5, single rotor 40b, 42b, 46b, 48b and coaxial two-direction rotor 44c, 44d in top view, The position of the rotary shaft of 50c, 50d, i.e. rotor supporting part 40a, 42a, 46a, 48a, 44a, 44b, 50a, 50b lower section, be not The high wind region of down wash.In addition, driving source 28,30,34,36, the lower section of 32a, 32b, 38a, 38b be not down wash High wind region.It is therefore preferable that outlet 62a, 64a of nozzle 62,64 be arranged in a top view not with single rotor 40b, 42b, The position of the rotary shaft of 46b, 48b and coaxial two-direction rotor 44c, 44d, 50c, 50d is overlapped, that is, is removing rotor supporting part The region of the lower zone of 40a, 42a, 46a, 48a, 44a, 44b, 50a, 50b is arranged.Furthermore it is preferred that the discharge of nozzle 62,64 Mouth 62a, 64a is arranged in the region for removing the lower zone of driving source 28,30,34,36,32a, 32b, 38a, 38b.

Furthermore it is preferred that outlet 62a, 64a of nozzle 62,64 be configured to it is symmetrical about the 1st line L1 line.

Referring to Fig. 3, most preferably, in top view, the outlet 62a of nozzle 62 is set in rotational trajectory S2 and position In the rotary shaft than coaxial two-direction rotor 44c (44d) by the side central point P1 and in the region R5 on the 2nd line L2.Region R5 It is contained in each of the 1st region R1, the 2nd region R3.In top view, the outlet 64a of nozzle 64 is set to rotational trajectory In S5 and it is located at the rotary shaft than coaxial two-direction rotor 50c (50d) by the side central point P1 and the region R6 on the 2nd line L2 It is interior.Region R6 is contained in each of the 1st region R2, the 2nd region R4.In the embodiment, in top view, nozzle 62,64 Outlet 62a, 64a be respectively arranged at position R5a, R6a in region R5, R6.

According to 10,8 rotors of more gyroplanes (single rotor 40b, 42b, 46b, 48b and coaxial two-direction rotor 44c, 44d, 50c, 50d) it is configured spaced apart from each other in a manner of surrounding central point P1 in a top view, and be configured to about in front and back The 1st line L1 line upwardly extended is symmetrical, and is also symmetrical including direction of rotation, moreover, matching in the left and right sides of the 1st line L1 The rotor for setting identical quantity (configures single rotor 42b, 46b and coaxial two-direction rotor 44c, 44d in left side, configures Dan Xuan on right side The wing 40b, 48b and coaxial two-direction rotor 50c, 50d).As a result, in the left and right sides of the 1st line L1 of more gyroplanes 10, rotor is (single Rotor 40b, 42b, 46b, 48b and coaxial two-direction rotor 44c, 44d, 50c, 50d) caused by down wash can be identical, energy Enough inhibit the phenomenon that uneven attachment of the medicament to the object in field occurs.In addition, becoming undershoot in 2 the 1st regions R1, R2 The high wind region of air-flow, moreover, by using up to 8 rotors (single rotor 40b, 42b, 46b, 48b and coaxial two-direction rotors 44c, 44d, 50c, 50d), down wash itself can be enhanced.Therefore, by that will be located at than single rotor 40b, 42b, 46b, 48b Is set to outlet 62a, 64a of each nozzle 62,64 of the position of coaxial two-direction rotor 44c, 44d, 50c, 50d on the lower In 1 region R1, R2, medicament can be dispensed with strong pressure by strong down wash, be able to suppress dispersing to really for medicament Medicament is protected to the adhesion amount of the object in field.

With not with rotor each in top view (single rotor 40b, 42b, 46b, 48b and coaxial two-direction rotor 44c, 44d, 50c, The mode of rotary shaft overlapping 50d), is arranged outlet 62a, 64a of each nozzle 62,64, that is, is removing without becoming lower qi of chong channel ascending adversely The rotation of each rotor (single rotor 40b, 42b, 46b, 48b and coaxial two-direction rotor 44c, 44d, 50c, 50d) in the high wind region of stream Outlet 62a, 64a of each nozzle 62,64 is arranged in the region of the lower zone of shaft, and thus, it is possible to good by strong down wash Dispense medicament well.

By remove do not have the rotor supporting part 40a, 42a in high wind region as down wash, 46a, 48a, 44a, Outlet 62a, 64a of each nozzle 62,64 is arranged in the region of the lower zone of 44b, 50a, 50b, can be by strong lower qi of chong channel ascending adversely Stream dispenses medicament well.

By remove the driving source 28 for not having the high wind region as down wash, 30,34,36,32a, 32b, 38a, Outlet 62a, 64a of each nozzle 62,64 is arranged in the region of the lower zone of 38b, can be by strong down wash well Dispense medicament.

Because becoming the stronger region of down wash in the 2nd region R3, R4 in the 1st region R1, R2, by the Outlet 62a, 64a of each nozzle 62,64 are set in 2 region R3, R4, medicament can be dispensed by stronger down wash, and And it is able to suppress dispersing for medicament and thereby further ensures that medicament to the adhesion amount of the object in field.

Outlet 62a, 64a of nozzle 62,64 and single rotor 40b, 42b, 46b, 48b are small at a distance from vertical direction When, the medicament sprayed from nozzle 62,64 is easy to advance by down wash before diffusion.Therefore, in driving source 28,30,34,36 Adjacent bottom portions when single rotor 40b, 42b, 46b, 48b is set, be easy with outlet 62a, 64a of nozzle 62,64 close to Dan Xuan The mode of the wing 40b, 42b, 46b, 48b configure nozzle 62,64, are easy to borrow the medicament to gush out from nozzle 62,64 before diffusion Down wash is helped to advance.In addition, using the synergy of coaxial two-direction rotor 44c, 44d, 50c, the 50d strong with down wash, Medicament can be increased to the adhesion amount of the object in field.

Above-mentioned various effects also can be realized in aftermentioned more gyroplane 10a.

By using include 2 groups of coaxial two-direction rotors 44c, 44d and 50c, 50d 8 rotors, can generate it is stronger under Qi of chong channel ascending adversely stream, and medicament can be dispensed by the strong down wash.

Because on the 2nd line L2 become the stronger region of down wash, by by the outlet 62a of each nozzle 62,64, 64a is set on the 2nd line L2, can dispense medicament by stronger down wash.

Because of the interior rotation rail with coaxial two-direction rotor 50c (50d) of the rotational trajectory S2 of coaxial two-direction rotor 44c (44d) The region more reinforced in mark S5 as down wash, so by the way that outlet 62a, 64a of each nozzle 62,64 are set to rotation In track S2, S5, medicament can be dispensed by the down wash more reinforced.

It is symmetrical about the 1st line L1 line by being configured to outlet 62a, 64a of nozzle 62,64, it can further suppress Uneven attachment of the medicament to the object in field.The effect also can be realized in aftermentioned more gyroplane 10a, 10b.

0 and Figure 11 referring to Fig.1, more gyroplane 10a of another embodiment of the present invention include main supporting part 100.Main branch Bearing portion 100 includes the columned spoke portion 104,106,108,110,112,114,116,118 of disk-shaped hub 102,8. Spoke portion 104~118 is arranged with separating roughly equal interval (substantially 45 degree interval) in the circumferential in the side of hub 102, and Extend radially.

Driving source 120~134 is respectively arranged below in the front end in spoke portion 104~118.In the embodiment, make Motor is used for driving source 120,122,124,126,128,130,132,134.

Driving source 120~134 respectively drives single rotor unit 136~150.

Single rotor unit 136,138,140,142,144,146,148,150 with 1 rotor respectively includes rotor branch Bearing portion 136a, 138a, 140a, 142a, 144a, 146a, 148a, 150a and single rotor 136b, 138b, 140b, 142b, 144b, 146b,148b,150b.Rotor supporting part 136a~150a respectively spoke portion 104~118 front end lower section in upper and lower It upwardly extends, is rotated and drive by driving source 120~134.Single rotor 136b~150b is respectively by rotor supporting part 136a~150a Lower end bearing, rotated together with rotor supporting part 136a~150a.Herein, single rotor 136b~150b is respectively in driving source 120~134 adjacent bottom portions are set on coaxial with driving source 120~134.Rotor supporting part 136a~150a is also used as and is propped up The rotary shaft of the rotor held works.

In this way, rotor supporting part 136a~150a is supported via driving source 120~134 by main supporting part 100 respectively.This Outside, single rotor 136b~150b is driven by driving source 120~134 respectively.The shape and size of single rotor 136b~150b are identical.

As described above, more gyroplanes 10 include 8 single rotor 136b~150b, it is configured to so-called eight gyroplane.

1 and Figure 12 referring to Fig.1, in top view, 8 single rotor 136b~150b in a manner of surrounding central point P2 mutually every Compartment of terrain configuration is opened, and is configured to about symmetrical by central point P2 and in the longitudinal direction the 1st line L3 line that extends, including rotation Turn direction be also it is symmetrical, configure the rotor of identical quantity in the left and right sides of the 1st line L3.

Specifically, 8 single rotor 136b~150b are in top view to form eight sides when linking respective rotation center The mode of shape configures.Central point P2 is the octagonal center of gravity.In top view, single rotor 136b~150b is each by the 1st line L3 and 2 are respectively configured with 4 regions that the 2nd line L4 that the mode orthogonal with the 1st line L3 extends in the lateral direction is marked off. That is, single rotor 136b and 138b are configured at identical region, and equally, single rotor 140b and 142b, single rotor 144b and 146b, list Rotor 148b and 150b are respectively arranged at same area.In top view, the respective rotary shaft of the single rotor 134b of forefront and 136 It is symmetrically configured at place on the front than the 2nd line L4 about the 1st line L3 line, the respective rotation of single rotor 142b and 144b of rearmost Axis symmetrically configures at place rearward than the 2nd line L4 about the 1st line L3 line.In addition, the 2nd line L4 is single by connection in top view The midpoint of the line segment of the respective rotary shaft of rotor 138b and 140b, the line segment for linking the respective rotary shaft of single rotor 146b and 148b Midpoint and central point P2.As shown in hollow arrow, in top view, single rotor 136b, 140b, 144b and 148b are suitable in Figure 12 Hour hands rotation, single rotor 138b, 142b, 146b and 150b rotate counterclockwise.Accordingly, with respect to single rotor 136b~150b, it is located at The rotor of the symmetrical position central point P2 about more gyroplane 10a is each identical direction of rotation.

In addition, more gyroplane 10a include for dispensing the dispensing device 52 of medicament to field, for transmitting/receiving wireless signal The control device (not shown) of antenna 54 and the movement for controlling more gyroplane 10a.About these, wrapped with more gyroplanes 10 The part included is identical, so omitting its repeat description.As shown in figure 11, each nozzle 62,64 included by dispensing device 52 Outlet 62a, 64a are located in a top view on the 2nd line L4, are located in side view on the lower than single rotor 136b~150b Position.

Herein, Figure 13~Figure 18 indicates the analysis result of velocity flow profile caused by the down wash of more gyroplane 10a.Figure 13 Indicate the wind speed profile downwards below rotor at the height of 0cm (rotor lower surface), Figure 14 indicates 10cm below rotor Wind speed profile downwards at height, Figure 15 indicate the wind speed profile downwards below rotor at the height of 30cm, Figure 16 Indicate the wind speed profile downwards below rotor at the height of 50cm, Figure 17 indicates downward at the height of 70cm below rotor The wind speed profile of side, Figure 18 indicate the wind speed profile downwards below rotor at the height of 90cm.Rotor shown here is Single rotor 136b.As analysis condition, it is assumed that more gyroplane 10a forwards and in the horizontal direction with flying speed 20km/h into The state of row flight.

0~Figure 12 is illustrated referring to Fig.1.In the left side of the 1st line L3, in top view, if single rotor 136b, 138b, The circular arc of rotational trajectory S7, S8, S9, S10 of the respective front end 140b, 142b are circular arc T7, T8, T9, T10.If rotational trajectory The tangent line that S7 and S8 common tangent line is tangent line U7, rotational trajectory S8 and S9 is common is tangent line U8, rotational trajectory S9 and S10 is common Tangent line be tangent line U9.If passing through the rotary shaft of the single rotor 142b of the rotary shaft and rearmost of the single rotor 136b of forefront Straight line is line U10.As shown in figure 13, the 1st region R7 formed by circular arc T7, T8, T9, T10, tangent line U7, U8, U9 and line U10 (oblique line portion of Figure 12) becomes the strong high wind region of down wash.Equally, in the right side of the 1st line L3, top view, if single rotor The circular arc of rotational trajectory S11, S12, S13, S14 of the respective front end 144b, 146b, 148b, 150b be circular arc T11, T12, T13,T14.If the tangent line that rotational trajectory S11 and S12 common tangent line is tangent line U11, rotational trajectory S12 and S13 is common is to cut Line U12, rotational trajectory S13 and S14 common tangent line are tangent line U13.If by the rotary shaft of the single rotor 150b of forefront and The straight line of the rotary shaft of the single rotor 144b of rearmost is line U14.By circular arc T11, T12, T13, T14, tangent line U11, U12, U13 Become the strong high wind region of down wash with the 1st region R8 (oblique line portion of Figure 12) that line U14 is formed.Therefore, excellent in top view Outlet 62a, 64a of nozzle 62,64 is selected to be respectively arranged at the 1st region R7, R8.

In addition, as shown in figure 13, in the left side of the 1st line L3, in top view, by single rotor 136b, 138b, 140b, 142b The 2nd region R9 (oblique line portion of Figure 12) that respective rotary shaft links and formed becomes the stronger high wind region of down wash.Together Sample in top view, the respective rotary shaft of single rotor 144b, 146b, 148b, 150b is linked and is formed on the right side of the 1st line L3 The 2nd region R10 (oblique line portion of Figure 12) become the stronger high wind region of down wash.In addition, when observation Figure 13~Figure 18, figure In 13 positioned at the down wash of the 2nd region R9, R10 with advance downwards. on one side mobile to the rear of more gyroplane 10a while Formed around by high wind surround region, and with downwards advance, by high wind surround region become smaller, it may thus be appreciated that from When medicament is discharged in 2nd region R9, R10, when vertical view, is able to suppress medicament and disperses to the outside of more gyroplane 10a, can be reliably Medicament is dispensed to the lower section of the flight path of more gyroplane 10a.Therefore, in top view, the outlet 62a of preferred nozzle 62,64, 64a is respectively arranged in the 2nd region R9, R10.

In turn, as shown in Figure 13~Figure 18, in the left side of the 1st line L3, in side view the single rotor 136b of forefront with The rotation rail of single rotor 136b, 138b, 140b, 142b when the rotation between centers and front-rear direction of the single rotor 142b of rearmost are seen The 3rd region R11 (oblique line portion of Figure 12) of mark S7, S8, S9, S10 overlapping becomes the strong high wind region of down wash.Equally, exist The right side of 1st line L3, in side view the rotation between centers of the single rotor 144b of the single rotor 150b and rearmost of forefront and preceding 3rd region R12 of rotational trajectory S11, S12, S13, S14 overlapping of single rotor 144b, 146b, 148b, 150b when rear direction is seen (oblique line portion of Figure 12) becomes the strong high wind region of down wash.Therefore, in top view, the outlet of preferred nozzle 62,64 62a, 64a are respectively arranged in the 3rd region R11, R12.

As shown in Figure 13 and Figure 14, the position of the rotary shaft of single rotor 136b~150b, i.e. rotor supporting part in top view The lower section of 136a~150a is not the high wind region of down wash.In addition, the lower section of driving source 120~134 is not down wash High wind region.It is therefore preferable that outlet 62a, 64a of nozzle 62,64 be arranged in a top view not with single rotor 136b~ The position of the rotary shaft of 150b is overlapped, that is, is arranged in the region for removing the lower zone of rotor supporting part 136a~150a.This Outside, outlet 62a, 64a of preferred nozzle 62,64 are arranged in the region for removing the lower zone of driving source 120~134.

Furthermore it is preferred that outlet 62a, 64a of nozzle 62,64 be configured to it is symmetrical about the 1st line L3 line.

Referring to Fig.1 2, in the embodiment, the outlet 62a of nozzle 62 is set on the 2nd line L4 and is located at the 3rd region Position R13 in R11, the outlet 64a of nozzle 64 are set to the position R14 on the 2nd line L4 and being located in the 3rd region R12.Position It sets R13 to be contained in each of the 1st region R7, the 2nd region R9, the 3rd region R11, position R14 is contained in the 1st region R8, In each of 2 region R10, the 3rd region R12.

The rotor diameter of each rotor can be made small by using 8 single rotor 136b~150b according to more gyroplane 10a, and And thrust needed for capable of making each rotor is smaller.Wherein, rotor diameter refers to the straight of the circle of the rotational trajectory S as rotor front end Diameter.

The 3rd region R11, R12 in 1st region R7, R8, particularly wherein the 2nd region R9, R10 and the 3rd region R11, The region of R12 overlapping becomes the stronger region of down wash, therefore by the way that outlet 62a, 64a of each nozzle 62,64 to be arranged The 3rd region R11, R12 in the 1st region R7, R8 is especially set to the 2nd region R9, R10 and the 3rd region R11, R12 weight Folded position can dispense medicament by stronger down wash.

In turn, 9 and Figure 20, more gyroplane 10b of other embodiments of the invention include main supporting part 200 referring to Fig.1. Main supporting part 200 includes the columned spoke portion 204,206,208,210 of disk-shaped hub 202 and 4.Spoke portion 204~ 210 are arranged with separating roughly equal interval (substantially 90 degree interval) in the circumferential in the side of hub 202, and radial prolong It stretches.

Driving source 212a and 212b are respectively set above and below the front end in spoke portion 204, in spoke portion 206 Driving source 214a and 214b are respectively set above and below front end, divides above and below the front end in spoke portion 208 Not She Zhi driving source 216a and 216b, be respectively set above and below the front end in spoke portion 210 driving source 218a and 218b.In the embodiment, used as driving source 212a, 212b, 214a, 214b, 216a, 216b, 218a, 218b electronic Machine.

Driving source 212a and 212b drive coaxial two-direction rotor unit 220, and driving source 214a and 214b drive coaxial two-direction Rotor unit 222, driving source 216a and 216b drive coaxial two-direction rotor unit 224, and driving source 218a and 218b driving are coaxial Two-way rotor unit 226.

Coaxial two-direction rotor unit 220 with 2 rotors includes that 1 group of rotor supporting part 220a and 220b and 1 group are same The two-way rotor 220c and 220d of axis.Rotor supporting part 220a extends in the up-down direction in the top of the front end in spoke portion 204, It is rotated and drives by driving source 212a.Coaxial two-direction rotor 220c is supported on the upper end of rotor supporting part 220a, supports with rotor Portion 220a rotates together.Rotor supporting part 220b extends in the up-down direction in the lower section of the front end in spoke portion 204, is driven Source 212b rotation driving.Coaxial two-direction rotor 220d is supported on the lower end of rotor supporting part 220b, with rotor supporting part 220b It rotates together.

Equally, the coaxial two-direction rotor unit 222 with 2 rotors includes 1 group of rotor supporting part 222a and 222b and 1 Group coaxial two-direction rotor 222c and 222d.Coaxial two-direction rotor unit 224 with 2 rotors includes 1 group of rotor supporting part 224a and 224b and 1 group of coaxial two-direction rotor 224c and 224d.Coaxial two-direction rotor unit 226 with 2 rotors includes 1 Group rotor supporting part 226a and 226b and 1 group of coaxial two-direction rotor 226c and 226d.Because coaxial two-direction rotor unit 222, 224, it 226 is constituted in the same manner as coaxial two-direction rotor unit 220, so omitting its repeat description.Herein, driving source 212a, 212b, 214a, 214b, 216a, 216b, 218a, 218b respectively with coaxial two-direction rotor 220c, 220d, 222c, 222d, 224c, 224d, 226c, 226d are set on coaxial.Rotor supporting part 220a, 220b, 222a, 222b, 224a, 224b, 226a, 226b Rotary shaft as the rotor supported works.

Therefore, rotor supporting part 220a, 220b, 222a, 222b, 224a, 224b, 226a, 226b are respectively via driving source 212a, 212b, 214a, 214b, 216a, 216b, 218a, 218b are supported by main supporting part 200.In addition, coaxial two-direction rotor 220c, 220d, 222c, 222d, 224c, 224d, 226c, 226d respectively by driving source 212a, 212b, 214a, 214b, 216a, 216b, 218a, 218b driving.The shape of coaxial two-direction rotor 220c, 220d, 222c, 222d, 224c, 224d, 226c, 226d It is identical with size.

As described above, more gyroplane 10b include 4 groups of coaxial two-direction rotors 220c, 220d, 222c, 222d, 224c, 224d With 226c, 226d (8 rotors of meter), so-called quadrotor machine is constituted.

Referring to Figure 20 and Figure 21, in top view 4 groups of coaxial two-direction rotor 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d are configured spaced apart from each other in a manner of surrounding central point P3, and be configured to about by central point P3 and The 1st line L5 line that front-rear direction extends is symmetrical, including direction of rotation is also that line is symmetrical.

Specifically, in top view, 4 groups of coaxial two-direction rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d is configured in a manner of forming quadrangle when linking respective rotation center.Central point P3 is the center of gravity of the quadrangle.It bows In view, 4 groups of coaxial two-direction rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d are each by the 1st line L5 1 group is respectively configured with 4 regions marked off the 2nd line L6 extended in left and right directions in the mode orthogonal with the 1st line L5.Top view In, the rotary shaft of coaxial two-direction rotor 220c, 220d and the rotary shaft of coaxial two-direction rotor 226c, 226d are configured to than the 2nd Place is symmetrical about the 1st line L5 line on the front by line L6, the rotary shaft and coaxial two-direction rotor of coaxial two-direction rotor 222c, 222d The rotary shaft of 224c, 224d are configured to symmetrical about the 1st line L5 line at place rearward than the 2nd line L6.In addition, in top view, the 2nd Line L6 by by the midpoint of the line segment of coaxial two-direction rotor 220c (220d) and 222c (222d) respective rotary shaft connection, will be same The midpoint of the line segment of the two-way rotor 224c (224d) of axis and the respective rotary shaft connection of 226c (226d) and central point P3.Such as Figure 21 In as shown in hollow arrow, in top view, coaxial two-direction rotor 220c, 222d, 224c, 226d are rotated clockwise, coaxial two-direction Rotor 220d, 222c, 224d, 226c rotate counterclockwise.Accordingly, with respect to coaxial two-direction rotor 220c, 220d, 222c, 222d, 224c, 224d, 226c, 226d, the rotor positioned at the symmetrical position central point P3 about more gyroplane 10b are each identical Direction of rotation.

In addition, more gyroplane 10b include for dispensing the dispensing device 52 of medicament to field, for transmitting/receiving wireless signal The control device (not shown) of antenna 54 and the movement for controlling more gyroplane 10b.About these, because with more gyroplanes 10 Included part is identical, so omitting its repeat description.As shown in figure 20, each nozzle 62 included by dispensing device 52, 64 outlet 62a, 64a is located in a top view on the 2nd line L6, in side view be located at than coaxial two-direction rotor 220c, The position of 220d, 222c, 222d, 224c, 224d and 226c, 226d on the lower.

Herein, Figure 22~Figure 27 indicates the analysis result for the velocity flow profile that the down wash of more gyroplane 10b is formed.Figure 22 Indicate the wind speed profile downwards below rotor at the height of 0cm (rotor lower surface), Figure 23 indicates 10cm below rotor Wind speed profile downwards at height, Figure 24 indicate the wind speed profile downwards below rotor at the height of 30cm, Figure 25 Indicate the wind speed profile downwards below rotor at the height of 50cm, Figure 26 indicates downward at the height of 70cm below rotor The wind speed profile of side, Figure 27 indicate the wind speed profile downwards below rotor at the height of 90cm.Rotor described herein is Coaxial two-direction rotor 220d.As analysis condition, it is assumed that more gyroplane 10b are forwards and in the horizontal direction with flying speed The state of 20km/h flight.

9~Figure 21 is illustrated referring to Fig.1.In top view, if coaxial two-direction rotor 220c (220d), 222c (222d), 224c (224d), the respective front end 226c (226d) rotational trajectory S15, S16, S17, S18 circular arc be circular arc T15, T16, T17,T18.Being set in further from the rotational trajectory S15 of the position of the 1st line L5 and S16 common tangent line is tangent line U15.It is set in It is tangent line U16 further from the rotational trajectory S16 of the position of the 2nd line L6 and S17 common tangent line.It is set in further from the 1st line L5 Position rotational trajectory S17 and S18 common tangent line be tangent line U17.It is set in the rotation rail further from the position of the 2nd line L6 Mark S18 and S15 common tangent line are tangent line U18.As shown in figure 21, by circular arc T15, T16, T17, T18 and tangent line U15, U16, The region R15 (oblique line portion of Figure 21) that U17, U18 are formed becomes the strong high wind region of down wash.As shown in Figure 22 and Figure 23, In top view, region R15 (oblique line portion of Figure 21) becomes the strong high wind region of down wash.Therefore, in top view, preferred nozzle 62,64 outlet 62a, 64a is set in the R15 of region.

In addition, such as Figure 22~Figure 27, in top view, by each coaxial two-direction rotor 220c (220d), 222c (222d), 224c The 4th region R16 (oblique line portion of Figure 21) of the rotary shaft of (224d) and 226c (226d) connection becomes the strong high wind of down wash Region.Therefore, in top view, outlet 62a, 64a of preferred nozzle 62,64 are set in the 4th region R16.

In turn, as shown in Figure 22 and Figure 23, in top view, the 4th region R16 and each coaxial two-direction rotor 220c (220d), 5th region R17 of rotational trajectory S15, S16, S17 and S18 overlapping of 222c (222d), 224c (224d) and 226c (226d), R18, R19 and R20 (oblique line portion of Figure 21) become the stronger high wind region of down wash.In addition, when observation Figure 22~Figure 27, figure The down wash for being located at the 5th region R17~R20 in 22 maintains high wind with advance downwards, while rearward movement, institute When knowing to eject medicament from the 5th region R17~R20, can reliably it be spread to the lower section of the flight path of more gyroplane 10b Cloth medicament.Therefore, in top view, outlet 62a, 64a of preferred nozzle 62,64 are respectively arranged in the 5th region R17, R20, Or it is set in the 5th region R18, R19.

Outlet 62a, 64a of preferred nozzle 62,64 are configured to symmetrical about the 1st line L5 line.

Referring to Figure 21, in the embodiment, in top view, outlet 62a, 64a of nozzle 62,64 are respectively in the 4th area Position R21, R22 are set to about the 1st symmetrical mode of line L5 in the R16 of domain.

According to such more gyroplane 10b, by using 4 groups of coaxial two-direction rotor 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d can generate strong down wash, and can dispense medicament by the strong down wash.This Outside, because the 4th region R16 becomes the strong region of down wash, by setting outlet 62a, 64a of each nozzle 62,64 It is placed in the 4th region R16, medicament can be dispensed by strong down wash.

Because the 5th region R17~R20 becomes the stronger region of down wash, by by the discharge of each nozzle 62,64 Mouth 62a, 64a are set in the 5th region R17~R20, can dispense medicament by stronger down wash.

Rotor is only by 4 groups of coaxial two-direction rotors 220c, 220d, 222c, 222d, 224c, 224d as more gyroplane 10b When constituting with 226c, 226d, the down wash that each coaxial two-direction rotor generates is not by the undershoot of other coaxial two-direction rotors generation The influence of air-flow.Therefore, outlet 62a, 64a of each nozzle 62,64 be configured at coaxial two-direction rotor 220d, 222d, 224d and When the underface of the rotary shaft of any one of 226d, from the medicament that outlet 62a, 64a of each nozzle 62,64 are ejected from being located at The center for the strong down wash that 1 group of coaxial two-direction rotor right above respectively generates is dispensed, and thus, it is possible to inhibit medicament It disperses and ensures medicament to the adhesion amount of the object in field.

In addition, can be in more gyroplanes 10,10a, the outlet of each nozzle be configured on the 2nd line in a top view with Outside, the outlet of each nozzle is arranged to when advancing and can change when retreating its direction and/or position.

Under normal circumstances, the direction of travel relative to more gyroplanes, posterior region compared with front area down wash compared with By force.Therefore, by the structure in such a way that the overhead in field does not change and dispenses medicament when advancing and when retreating to direction in the front-back direction At more gyroplanes 10,10a, other than the outlet of each nozzle is configured on the 2nd line in the case where, by when advancing and retrogressing When enable nozzle outlet direction and/or position change, it can be considered that wind or the front area relative to direction of travel Medicament is discharged with the difference of the down wash of posterior region, it can be same when advancing and when retreating by strong down wash Ground dispenses medicament.The outlet of nozzle is especially effective when being respectively set 1 in 2 the 1st regions or in 2 the 2nd regions.

In more gyroplanes 10 shown in FIG. 1,2 nozzles 62,64 are used, but not limited to this, also can be used 4 Nozzle.At this point, in top view, the outlet of preferably 2 nozzles is set to the 2nd region R3, other 2 nozzles referring to Fig. 3 Outlet is set in the 2nd region R4.And then preferably, the outlet of 2 nozzles be respectively arranged in the 2nd region R3 and Positioned at the front and rear sides of the 2nd line L2.In addition, the outlet of other 2 nozzles is respectively arranged in the 2nd region R4 and is located at The front and rear sides of 2nd line L2.

In more gyroplane 10a shown in Fig. 10, using 2 nozzles 62,64, but not limited to this, also can be used 4 Nozzle.At this point, referring to Fig.1 2, in top view, the outlet of preferably 2 nozzles is set to the 1st region R7, other 2 nozzles Outlet is configured in the 1st region R8.And then preferably, the outlet of 2 nozzles be respectively arranged in rotational trajectory S8 and Rotary shaft than single rotor 138b is in the region R13a of the 1st side line L3 and in rotational trajectory S9 and than single rotor 140b's Rotary shaft is in the region R13b of the 1st side line L3.Region R13a, R13b are contained in the 1st region R7, the 2nd region R9, the 3rd region In each of R11.In addition, the outlet of other 2 nozzles is respectively arranged in rotational trajectory S13 and than single rotor 148b's Rotary shaft of the rotary shaft in the region R14a of the 1st side line L3 and in rotational trajectory S12 and than single rotor 146b leans on the 1st line In the region R14b of the side L3.Region R14a, R14b are contained in any one of the 1st region R8, the 2nd region R10, the 3rd region R12 In.

In more gyroplanes 10,10a, preferably by about the 1st line extended in front-rear direction it is symmetrical in a manner of, in the 1st line The left and right sides the strong region of down wash configure identical quantity nozzle outlet.

In more gyroplane 10b shown in Figure 19,2 nozzles 62,64 are used, but not limited to this, also can be used 4 A nozzle.At this point, in top view, the outlet of preferably 4 nozzles is respectively arranged in the 5th region R17~R20 referring to Figure 21. In addition, the outlet of 4 nozzles can also be respectively arranged at the rotary shaft of coaxial two-direction rotor 220c (220d) in top view Following location directly R24, the coaxial two-direction rotor of the rotary shaft of following location directly R23, coaxial two-direction rotor 222c (222d) The rotary shaft of the following location directly R25 and coaxial two-direction rotor 226c (226d) of the rotary shaft of 224c (224d) just under The position R26 of side.

In more gyroplane 10b, preferably by about the 1st line L5 extended in front-rear direction it is symmetrical in a manner of, in the 5th region R17~R20 configures the outlet of the nozzle of identical quantity.

In addition, in more gyroplanes 10,10a, 10b, the outlet of nozzle by about the 2nd line it is symmetrical in a manner of in the 2nd line Front and rear sides be respectively configured 2 or more, the traveling relative to more gyroplanes 10,10a, 10b also can be set into multiple nozzles Medicament can be discharged from the nozzle of rear side in direction.

As discussed previously with respect to the direction of travel of more gyroplanes, posterior region down wash compared with preceding region is strong.Cause This, to be constituted mostly rotation in such a way that the overhead in field does not change and dispenses medicament when advancing and when retreating to direction in the front-back direction Wing machine 10,10a, 10b can be by the outlets of nozzle about the 2nd line line pair in the case that 4 or more nozzles are counted in configuration The mode of title is respectively configured 2 or more in the front and rear sides of the 2nd line, and multiple nozzles can be disposed relative to more gyroplanes 10, medicament can be discharged from the nozzle of rear side in the direction of travel of 10a, 10b.Thereby, it is possible to switch to relative to direction of travel from Medicament is discharged in the nozzle of rear side, can similarly dispense medicament when advancing and when retreating by strong down wash.

In each more gyroplanes 10,10a, 10b, coaxial two-direction rotation can also be also set up with P1, P2, P3 at the center point The wing.

It can also make all coaxial two-direction rotor units of rotor unit included by more gyroplanes 10,10a.That is, can also So that rotor included by more gyroplanes 10 is 6 groups of coaxial two-direction rotors.In addition it is also possible to make included by more gyroplane 10a Rotor is 8 groups of coaxial two-direction rotors.

In more gyroplane 10a, 4 groups of coaxial two-direction rotors of rotor near the outlet of nozzle can also be made.For example, ginseng According to Figure 12, when outlet 62a, 64a of 2 nozzles 62,64 are respectively arranged at position R13, R14 or when 4 nozzles discharge When mouth is respectively arranged at region R13a, R13b, R14a, R14b, make 4 groups of coaxial two-direction rotors of rotor near the 2nd line L4.This Outside, when the outlet of 4 nozzles is set to the respective both ends the 3rd region R11, R12, make the rotor 4 near the 1st line L3 Group coaxial two-direction rotor.At this point, medicament can be dispensed well by stronger down wash.

More gyroplanes 10,10a respectively in, keep the size of included whole rotors identical, but not limited to this, The rotor diameter of the rotor near the outlet of nozzle can be made bigger than the rotor diameter of other rotors.In this case, can be by Stronger down wash dispenses medicament well.

In more gyroplanes 10,2 groups of coaxial two-direction rotor 44c, 44d and 50c, 50d on the 2nd line L2 can also be made all to configure In on the front or the position at rear than central point P1.

In more gyroplanes 10, in top view, it can also make from the respective rotation of coaxial two-direction rotor 44c, 44d, 50c, 50d The distance of axis (rotor supporting part 44a, 44b, 50a, 50b) to the 1st line L1 are greater than respective from single rotor 40b, 42b, 46b, 48b Rotary shaft (rotor supporting part 40a, 42a, 46a, 48a) is to the distance of central point P1.In this case, can expand can dispense medicament Width.

In addition, in top view, can also make from coaxial two-direction rotor 44c, 44d, 50c, 50d respectively in more gyroplanes 10 Rotary shaft to the 1st line L1 distance be less than from the respective rotary shaft of single rotor 40b, 42b, 46b, 48b to central point P1 away from From.

The present invention is applicable not only to not change the more gyroplanes to move forward and backward to direction in the front-back direction, additionally it is possible to The more gyroplanes back and forth to be flown suitable for changing the direction of body.

In above embodiment, rotor supporting part works as the rotary shaft of rotor, and but not limited to this.It can also be with The rotary shaft of rotor supporting part and rotor is configured to separated different components.

In above embodiment, single rotor unit is set to the front end in the spoke portion of main supporting part with the driving source for driving it The lower section in portion, but not limited to this, also can be set in the top of the front end in the spoke portion of main supporting part.

In above-mentioned embodiment, in top view, the 2nd line can not also pass through central point.

The present invention is suitable for arbitrary more gyroplanes comprising is spaced from each other in a manner of surrounding central point in a top view A rotor of 4 × N (N be 2 or more integer) of compartment of terrain configuration, in top view, 4 × N number of rotor is configured to about passing through center Point and the 1st line line that extends in the longitudinal direction is symmetrical, including direction of rotation and symmetrical, in the left and right sides of the 1st line Configure the rotor of identical quantity.

More than, it is illustrated for the preferred embodiment of the present invention, without departing from scope and spirit of the present invention Just it is able to carry out various changes.The scope of the present invention is only defined by the claims.

Description of symbols

10, the more gyroplanes of 10a, 10b

12,100,200 main supporting parts

28、30、32a、32b、34、36、38a、38b、120、122、124、126、128、130、132、134、212a、 212b, 214a, 214b, 216a, 216b, 218a, 218b driving source

40b, 42b, 46b, 48b, 136b, 138b, 140b, 142b, 144b, 146b, 148b, 150b single rotor

44c, 44d, 50c, 50d, 220c, 220d, 222c, 222d, 224c, 224d, 226c, 226d coaxial two-direction rotor

40a、42a、44a、44b、46a、48a、50a、50b、136a、138a、140a、142a、144a、146a、148a、 150a, 220a, 220b, 222a, 222b, 224a, 224b, 226a, 226b rotor supporting part

52 dispensing devices

62,64 nozzle

62a, 64a outlet

The 1st line of L1, L3, L5

The 2nd line of L2, L4, L6

S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11, S12, S13, S14, S15, S16, S17, S18 rotation rail Mark

T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18 circular arc

U1, U2, U4, U5, U7, U8, U9, U11, U12, U13, U15, U16, U17, U18 tangent line

U3, U6, U10, U14 line

The 1st region R1, R2, R7, R8

The 2nd region R3, R4, R9, R10

The 3rd region R11, R12

The 4th region R16

The 5th region R17, R18, R19, R20

The region R5, R6, R13a, R13b, R14a, R14b, R15

The position R5a, R6a, R13, R14, R21, R22, R23, R24, R25, R26

P1, P2, P3 central point.

Claims

1. a kind of more gyroplanes characterized by comprising

A rotor of 4 × N (N be 2 or more integer), each rotor was separated from each other compartment of terrain in a manner of surrounding central point and matched when vertical view It sets；

4 × N number of rotor supporting part of each rotor is supported respectively；

Support the main supporting part of each rotor supporting part；With

Dispensing device comprising for multiple nozzles of medicament to be discharged,

When vertical view, described 4 × N number of rotor be configured to be about by the 1st line of the central point extended in the longitudinal direction Line is symmetrical, including direction of rotation and symmetrical,

The rotor of identical quantity is configured in the left and right sides of the 1st line,

When side view, the outlet of each nozzle is located at than described 4 × position of N number of rotor on the lower,

In the left and right sides of the 1st line, when vertical view, the rotational trajectory by each rotor front end circular arc and tangent line, with And the 1st region is formed by by the line of the rotary shaft of the rotor of the rotary shaft and rearmost of the rotor of forefront It is interior, the outlet of each nozzle is set.

2. more gyroplanes as described in claim 1, it is characterised in that:

When vertical view, the outlet of each nozzle is arranged to not Chong Die with the rotary shaft of each rotor.

3. more gyroplanes as claimed in claim 1 or 2, it is characterised in that:

In the region for the lower zone for removing the rotor supporting part, the outlet of each nozzle is set.

4. more gyroplanes as claimed any one in claims 1 to 3, it is characterised in that:

It further include the 4 × N number of driving source for respectively driving each rotor,

The driving source and the rotor are set on coaxial,

In the region for the lower zone for removing the driving source, the outlet of each nozzle is set.

5. more gyroplanes according to any one of claims 1 to 4, it is characterised in that:

In the left and right sides of the 1st line, when vertical view, the rotary shaft of each rotor is linked and in the 2nd region that is formed The outlet of each nozzle is set.

6. more gyroplanes as described in any one of claims 1 to 5, it is characterised in that:

Described 4 × N number of rotor includes 4 single rotors and 2 groups of coaxial two-direction rotors,

When vertical view, 4 single rotors and 2 groups of coaxial two-direction rotors are to form six sides when linking respective rotation center The mode of shape configures,

When vertical view, the single rotor is extending by the 1st line and in the mode orthogonal with the 1st line in the lateral direction 1 is respectively configured in the region that 2nd line marks off,

When vertical view, 2 groups of coaxial two-direction rotors are configured on the 2nd line.

7. more gyroplanes as described in claim 6, it is characterised in that:

When vertical view, the outlet of each nozzle is configured on the 2nd line.

8. more gyroplanes as claimed in claims 6 or 7, it is characterised in that:

When vertical view, the outlet of each nozzle is configured in the rotational trajectory of each coaxial two-direction rotor.

9. more gyroplanes as claimed in claim 8, it is characterised in that:

When vertical view, it is greater than the rotation from the single rotor from the distance of rotary shaft to the 1st line of the coaxial two-direction rotor Axis to the central point distance.

10. more gyroplanes as described in any one of claims 1 to 5, it is characterised in that:

Described 4 × N number of rotor includes 8 single rotors,

When vertical view, 8 single rotors by by respective rotation center link when formed it is octagonal in a manner of configure,

When vertical view, the single rotor is extending by the 1st line and in the mode orthogonal with the 1st line in the lateral direction 2 are respectively configured in the region that 2nd line marks off.

11. more gyroplanes as claimed in claim 10, it is characterised in that:

In the left and right sides of the 1st line, the list of the single rotor and rearmost when being formed with side view in forefront The rotation between centers of rotor and the 3rd region that the rotational trajectory of the single rotor is overlapped in front-rear direction observation,

The outlet of each nozzle is arranged in the 3rd region when looking down in the left and right sides of the 1st line.

12. more gyroplanes as described in claim 6 or 10, it is characterised in that:

When vertical view, the outlet of each nozzle be configured on the 2nd line other than position,

The outlet of each nozzle is arranged to when advancing and can change when retreating its direction and/or position.

13. more gyroplanes as described in claim 1, it is characterised in that:

Described 4 × N number of rotor includes single rotor,

The single rotor is set to the adjacent bottom portions of the driving source.

14. a kind of more gyroplanes characterized by comprising

4 groups of coaxial two-direction rotors, when vertical view, each coaxial two-direction rotor was separated from each other compartment of terrain configuration in a manner of surrounding central point；

8 rotor supporting parts of each coaxial two-direction rotor are supported respectively；

Support the main supporting part of each rotor supporting part；With

When vertical view, 4 groups of coaxial two-direction rotors are configured to about the 1st extended in the longitudinal direction for passing through the central point Line is that line is symmetrical, including direction of rotation and symmetrical, and to link respective rotation center when forms the side of quadrangle Formula configuration,

When vertical view, the coaxial two-direction rotor by the 1st line and in the mode orthogonal with the 1st line in the lateral direction 1 group is respectively configured in the region that the 2nd line extended marks off,

The outlet of each nozzle in side view positioned at the position than 4 groups of coaxial two-direction rotors on the lower, and when overlooking It is set in the 4th region that the rotary shaft of each coaxial two-direction rotor links.

15. more gyroplanes as described in claim 1,6,10 or 14, it is characterised in that:

The outlet of the multiple nozzle is configured to about the 1st line be that line is symmetrical.

16. more gyroplanes as claimed in claim 14, it is characterised in that:

When vertical view, in 5th region Chong Die with the rotational trajectory of each coaxial two-direction rotor of the 4th region described in setting The outlet of each nozzle.

17. more gyroplanes as described in claim 1,6,10 or 14, it is characterised in that:

The outlet of the nozzle by about the 2nd line be it is symmetrical in a manner of match respectively in the front and rear sides of the 2nd line 2 or more are set,

The multiple nozzle is arranged to that institute is discharged from the nozzle of the rear side of the direction of travel relative to more gyroplanes State medicament.