JP2005289128A - Pitch angle variable mechanism for double inversion wing, and flying device having double inversion wing equipped with the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control a pitch angle of upper and lower rotors by a simple structure, in a pitch angle variable mechanism and a flying device having double inversion wings equipped with the same. <P>SOLUTION: The pitch angle variable mechanism 1 adjusts an pitch angle of the double inversion wings wherein an upper rotor 5 and a lower rotor 6 are respectively fixed to an upper rotating shaft 3 and a lower rotating shaft 4. The pitch angle variable mechanism 1 comprises: a swash plate 7 in which a lower rotating shaft 4 is inserted through a ball joint 7a and to which lifting rods 10, 11, 12 are connected; a lower pitch angle changing mechanism 40 receiving tilting change of the swash plate 7 and changing the pitch angle of the lower rotor 6; a tilting transmitting mechanism 60 converting the tilting change to different direction tilting change for transmitting; and an upper pitch angle changing mechanism 30 receiving the transmitted tilting change and changing the pitch angle of the upper rotor 5. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a pitch angle variable mechanism for a counter-rotating wing and a flying device having the counter-rotating wing provided with the mechanism.

  Conventionally, there is a counter rotating blade (also referred to as a counter rotating propeller or counter rotating rotor) as one of the propulsion mechanisms of the helicopter. This contra-rotating blade has a feature that a propulsive force can be obtained without generating reaction force accompanying the turning of the rotor in the main body of the helicopter by the two rotors of the upper rotor and the lower rotor. In addition, the contra-rotating blade does not require a tail rotor to be attached to the rear part of the helicopter and can obtain twice the propulsive force with the same rotor diameter as compared with a normal single rotor helicopter. Have.

As a technology related to a helicopter provided with a counter-rotating wing, there has conventionally been a technology related to a helicopter including the counter-rotating wing described in Patent Document 1 and having the properties of both a helicopter and an airplane.
On the other hand, in a helicopter having counter-rotating blades, in order to change the altitude and attitude of the helicopter, in addition to adjusting the rotational speeds of the upper rotor and the lower rotor, it is also possible to change the pitch angle of the rotor. Discloses a pitch control mechanism in a model helicopter. This pitch control mechanism captures a change in the balance of lift and changes the pitch angle of the main rotor accordingly.

JP 10-119893 A JP-A-10-118850

However, since the above-described heliplane described in Patent Document 1 only considers changing the angle of the auxiliary wing projecting laterally from the fuselage in order to change the attitude and position, the attitude and position can be accurately maintained. There was a problem that was difficult.
Further, the pitch control mechanism described in Patent Document 2 needs to capture a change in lift, so that a response is likely to be delayed until the pitch angle is changed, and is not suitable for an accurate change in posture and position.

  On the other hand, in order to maintain the attitude and position accurately in a flying device having a contra-rotating wing, it is necessary to accurately control the pitch angle. For this purpose, the pitch angles of both the upper rotor and the lower rotor must be set. It is desirable to make it variable, and it is desirable to be able to control the pitch angle with the simplest mechanism possible.

  Accordingly, the present invention has been made to solve the above-described problem, and in the pitch angle variable mechanism of the counter rotating blade and the flying device having the counter rotating blade having the same, the pitch of both the upper rotor and the lower rotor is determined. The purpose is to make it possible to control the corners with a simple mechanism.

  In order to solve the above problems, the present invention provides a variable pitch angle for adjusting the pitch angle of the counter rotating blades in which the upper rotor and the lower rotor are fixed to the upper rotating shaft and the lower rotating shaft, which are arranged coaxially, respectively. A swash plate in which an upper rotating shaft and a lower rotating shaft are inserted through a ball joint and a plurality of lifting rods are connected to the peripheral end, and each lifting rod is raised or lowered along the rotating shaft. The lift motor, the lower swash plate inclination change around the upper and lower rotary shafts, the lower pitch angle changing mechanism for changing the pitch angle of the lower rotor, and the swash plate inclination change in different directions Inclination transmission mechanism that converts to change in inclination in different direction and transmits the inclination change of swash plate transmitted by the inclination transmission mechanism Only in characterized in having an upper pitch angle changing mechanism for changing the pitch angle of the upper rotor.

  In response to the change in the inclination of the swash plate, the lower pitch angle changing mechanism changes the pitch angle of the lower rotor. Also, the tilt transmission mechanism converts the tilt change of the swash plate into a different direction tilt change in different directions and transmits it to the upper pitch angle changing mechanism, and the upper pitch angle changing mechanism transmits the different direction tilt change transmitted from the tilt transmitting mechanism. In response, the pitch angle of the upper rotor is changed.

In addition, the pitch angle variable mechanism includes an upper pitch angle changing mechanism having an upper link connected to the upper rotor and an upper pitch control plate having an upper rotating shaft inserted through a ball joint and connected to the upper link. The lower pitch angle changing mechanism has a lower link connected to the lower rotor, and a lower pitch control plate to which the upper rotary shaft and the lower rotary shaft are inserted through the ball joint and to which the lower link is connected. can do.
Accordingly, the upper pitch angle changing mechanism can change the pitch angle by the upper link and the upper pitch control plate, and the lower pitch angle changing mechanism can change the pitch angle by the lower link and the lower pitch control plate.

Further, the lower pitch control plate in the lower pitch angle changing mechanism is disposed in contact with the upper surface of the swash plate, and the tilt transmission plate that contacts the upper pitch control plate via a bearing, the tilt transmission plate and the lower pitch control plate, The inclination transmission mechanism can be configured by a plurality of connecting rods connecting the two.
In this way, the change in inclination of the swash plate can be transmitted to the lower pitch control plate, converted by the plurality of connecting rods and the inclination transmission plate, and then transmitted to the upper pitch control plate.

In this case, the plurality of connecting rods are constituted by three rods having a twist arrangement structure that is connected to the inclined transmission plate and the lower pitch control plate at positions that are substantially evenly shifted along the circumferential direction. Preferably it is.
Thereby, the inclination change in the swash plate can be converted into an inclination change in the opposite direction and transmitted to the upper pitch control plate.

  Further, the present invention has a counter rotating blade having a pitch angle variable mechanism for adjusting a pitch angle, wherein an upper rotor and a lower rotor are respectively fixed to an upper rotating shaft and a lower rotating shaft arranged coaxially. A flying device, a pitch angle variable mechanism, a swash plate in which an upper rotating shaft and a lower rotating shaft are inserted through a ball joint, and a plurality of lifting rods are connected to a peripheral end, and each lifting rod is rotated. Lift motor for raising or lowering along the axis, lower pitch angle changing mechanism for changing the pitch angle of the lower rotor in response to the inclination change of the swash plate around the upper rotating shaft and the lower rotating shaft, and the swash plate A tilt transmission mechanism that converts the change in tilt of the head into a different direction tilt change in different directions and a swath transmitted by the tilt transmission mechanism. In response to the inclination change of the shoe plate, to provide a flying device having an upper pitch angle changing mechanism for changing the pitch angle of the upper rotor.

  As described above, according to the present invention, in the pitch angle variable mechanism of the counter-rotating wing and the flying device having the counter-rotating wing provided with the mechanism, the pitch angle of both the upper rotor and the lower rotor can be set with a simple mechanism. You will be able to control.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a pitch angle variable mechanism for a counter rotating blade according to the present invention and a flying device having the counter rotating blade having the mechanism will be described below with reference to the accompanying drawings. In addition, the same code | symbol is used for the same element and the overlapping description is abbreviate | omitted.

(Pitch angle variable mechanism embodiment)
FIG. 1 is a perspective view showing the overall configuration of the pitch angle variable mechanism 1 according to the embodiment of the present invention, and FIG. 4 is a cross-sectional view showing the main part of the pitch angle variable mechanism 1.

  The pitch angle variable mechanism 1 includes a hollow cylindrical lower rotary shaft 4 that is appropriately shorter than the upper rotary shaft 3 outside the upper rotary shaft 3, and the upper rotary shaft 3 and the lower rotary shaft 4 are coaxial. It has an arrangement, and is configured to adjust the pitch angle of the counter rotating blades to which the upper rotor 5 and the lower rotor 6 extending in the intersecting direction are fixed to the upper rotating shaft 3 and the lower rotating shaft 4 respectively. Has been. Drive motors 23 and 24, which will be described later, shown in FIG. 4 are connected to the upper rotary shaft 3 and the lower rotary shaft 4 through transmission means (not shown) such as gears and belts. They rotate in the A direction (clockwise) and the B direction (counterclockwise), respectively, and rotate in opposite directions. Further, the upper rotor 5 and the lower rotor 6 also rotate in the A and B directions together with the upper rotating shaft 3 and the lower rotating shaft 4, and therefore rotate in opposite directions.

  The pitch angle variable mechanism 1 has a disc-shaped swash plate 7 through which an upper rotary shaft 3 and a lower rotary shaft 4 are inserted through a ball joint 7a (see FIG. 4) and extends in the direction intersecting the lower rotary shaft 4. ing. Three lifting rods 10, 11, 12 are connected to the swash plate 7 at positions that are shifted at substantially equal intervals along the circumferential direction on the circumferential side portion. The elevating rods 10, 11, 12 are raised or lowered along the lower rotary shaft 4 by elevating motors 20, 21, 22, respectively.

Further, the pitch angle variable mechanism 1 is an upper pitch angle changing mechanism 30 that changes the pitch angles of the upper rotor 5 and the lower rotor 6 in conjunction with an inclination changing operation in which the inclination (direction or amount of inclination) of the swash plate 7 changes. And a lower pitch angle changing mechanism 40.
In the upper pitch angle changing mechanism 30, the upper link 31 connected to the upper rotor 5 and the upper rotary shaft 3 are inserted through the ball joint 34a, projecting in the crossing direction of the upper rotary shaft 3, and the upper link 31 on the circumferential side portion. Are connected to the upper pitch control plate 34 having a thick disk shape. Further, the upper pitch angle changing mechanism 30 is fixed to the upper rotary shaft 3 and is connected to the fixed disc portion 33 projecting from the upper rotary shaft 3 like a bowl, and the fixed disc portion 33 and the upper pitch control plate 34. A link 35 is provided.

  The upper link 31 includes an arm portion 31 a connected to the upper rotor 5, and a rod 31 b that is rotatably connected to the arm portion 31 a and connects the arm portion 31 a and the upper pitch control plate 34. . The connection link 35 is rotatably connected to the peripheral side portion of the fixed disk portion 33, and is connected to the two arm portions 35a projecting in the crossing direction of the upper rotary shaft 3 and to each arm portion 35a. And a triangular link 35b connected to the upper pitch control plate 34 by a ball joint.

  The lower pitch angle changing mechanism 40 has a lower link 41 connected to the lower rotor 6 and a ball joint 44a through which the upper rotary shaft 3 and the lower rotary shaft 4 are inserted, projecting in the direction intersecting the lower rotary shaft 4, and And a lower pitch control plate 44 having a thick disk shape with a lower link 41 connected thereto. Further, the lower pitch angle changing mechanism 40 is fixed to the lower rotary shaft 4 and is fixed to the lower rotary shaft 4 so as to project from the lower rotary shaft 4 in a bowl shape below the lower rotor 6, and the fixed disc portion 43 and the lower pitch. A connection link 45 that connects the control plate 44 is provided. The lower pitch control plate 44 is disposed so as to contact the upper surface of the swash plate 7.

  The lower link 41 includes an arm portion 41 a connected to the lower rotor 6, and a rod 41 b that is rotatably connected to the arm portion 41 a and connects the arm portion 41 a and the lower pitch control plate 44. . The connection link 45 is rotatably connected to the peripheral side portion of the fixed disk portion 43, and is connected to two arm portions 45a projecting in the crossing direction of the lower rotary shaft 4 and each arm portion 45a. And a triangular link 45b connected to the lower pitch control plate 44 by a ball joint.

Further, the variable pitch angle mechanism 1 changes the inclination direction or the amount of inclination in the swash plate 7 around the upper rotating shaft 3 and the lower rotating shaft 4 (hereinafter, the change of the inclination direction or the amount of inclination is referred to as “inclination change”). And an inclination transmission mechanism 60 that transmits the change to the upper pitch angle changing mechanism 30 by converting the change into the different direction inclination change.
The tilt transmission mechanism 60 has three connecting rods 61, 62, 63 and a tilt transmission plate 64. The tilt transmission mechanism 60 includes a connection link 65 and a fixed disk portion 66 that is fixed to the lower rotary shaft 4 above the lower rotor 6 and projects from the lower rotary shaft 4 in a bowl shape.
The tilt transmission plate 64 is inserted through the upper rotary shaft 3 and the lower rotary shaft 4 through the ball joint 64a, contacts the upper pitch control plate 34 through the bearing from the lower side, and stretches in the crossing direction of the lower rotary shaft 4. It has a thick disk shape.

  The connecting rods 61, 62, 63 have one end connected to the peripheral side of the lower pitch control plate 44 and the other end connected to the peripheral side of the inclined transmission plate 64, and both ends are circumferential. , And a twist arrangement structure connected to a position shifted substantially evenly (shifted by approximately 120 degrees in the circumferential direction). Each of the lower pitch control plate 44 and the inclined transmission plate 64 is also connected to a position where the end portions of the connecting rods 61, 62, 63 are substantially evenly shifted along the circumferential direction. By connecting so as to have this twist arrangement structure, each connecting rod 61, 62, 63 is connected in an inclined state with respect to the axial direction of the lower rotating shaft 4.

  The connection link 65 is rotatably connected to the peripheral side portion of the fixed disk portion 66, and is connected to two arm portions 65a projecting in the crossing direction of the lower rotating shaft 4, and to each arm portion 65a. And a triangular link 65b connected to the inclined transmission plate 64 by a ball joint.

The pitch angle variable mechanism 1 having the above configuration operates as follows.
In the variable pitch angle mechanism 1, the upper rotary shaft 3 and the lower rotary shaft 4 rotate in the A and B directions and rotate in opposite directions. In this case, the lower pitch angle changing mechanism 40 and the tilt transmission mechanism 60 are rotated in the B direction together with the lower rotating shaft 4 because the fixed disk portions 43 and 66 are both fixed to the lower rotating shaft 4 from the above-described configuration. Since the fixed disk portion 33 is fixed to the upper rotary shaft 3, the upper pitch angle changing mechanism 30 rotates in the A direction together with the upper rotary shaft 3. However, the swash plate 7 and the three elevating rods 10, 11, 12, the elevating motors 20, 21, 22 and the drive motors 23, 24 connected thereto are prevented from rotating.

The pitch angle of the lower rotor 6 is changed by the lower pitch angle changing mechanism 40. The lower pitch angle changing mechanism 40 operates as follows to change the pitch angle of the lower rotor 6.
In the lower pitch angle changing mechanism 40, the lower link 41 is connected to the lower rotor 6, and the pitch angle of the lower rotor 6 changes in accordance with the operation of the lower link 41. The lower link 41 is connected to a lower pitch control plate 44 by a ball joint, and the lower rotation shaft 4 is inserted through the lower pitch control plate 44 with a ball joint 44a interposed therebetween. Therefore, as shown in FIG. 5, the lower pitch control plate 44 has an inclination that changes in any direction, front, back, left, and right, and the lower link 41 moves up and down while the connection link 45 moves up and down in response to the change in inclination. It moves and the pitch angle of the lower rotor 6 changes. Since the connection link 45 is connected to the fixed disk portion 43 fixed to the lower rotary shaft 4, it rotates integrally with the lower rotary shaft 4. Therefore, the lower pitch angle changing mechanism 40 allows the pitch angle to change while the lower rotor 6 rotates.

Further, although the pitch angle of the upper rotor 5 varies depending on the upper pitch angle changing mechanism 30, the upper pitch angle changing mechanism 30 operates in the same manner as the lower pitch angle changing mechanism 40, although the rotation direction is reversed. Change the pitch angle.
That is, in the upper pitch angle changing mechanism 30, the upper link 31 is connected to the upper rotor 5, and the pitch angle of the upper rotor 5 changes corresponding to the operation of the upper link 31. The upper link 31 is connected to the upper pitch control plate 34 by a ball joint, and the upper rotation shaft 3 is inserted through the upper pitch control plate 34 with a ball joint 34a interposed therebetween. Therefore, the inclination of the upper pitch control plate 34 also changes in any direction, front, back, left, and right, and the upper link 31 moves up and down while the connection link 35 moves up and down in response to the change in inclination. The corner changes. Since the connection link 35 is connected to the fixed disk portion 33 fixed to the upper rotary shaft 3, it rotates integrally with the upper rotary shaft 3. Therefore, the upper pitch angle changing mechanism 30 changes the pitch angle while rotating the upper rotor 5.

  On the other hand, to the swash plate 7, three lifting rods 10, 11, and 12 that are independently lifted by lifting motors 20, 21, and 22 are connected, and the lifting amount of the lifting rods 10, 11, and 12 is adjusted. If they are equal, the swash plate 7 moves up (or descends) in a state of being substantially orthogonal to the lower rotating shaft 4. However, if the lifting / lowering amounts of the lifting / lowering rods 10, 11, 12 are varied, the lifting / lowering amounts in the respective parts of the swash plate 7 change, and therefore a change in inclination occurs in the swash plate 7. Since the upper rotary shaft 3 and the lower rotary shaft 4 are inserted through the swash plate 7 via the ball joint 7a, the change in inclination that occurs at this time occurs in any direction, front, back, left, and right.

  Since the lower pitch control plate 44 is disposed on the swash plate 7 so as to be in contact with the upper surface, when such a change in inclination occurs, the same change in inclination also occurs in the lower pitch control plate 44. Therefore, the inclination change of the swash plate 7 is transmitted to the lower pitch control plate 44 as it is without changing the inclination direction. This inclination change is converted into the operation of the lower link 41 as described above. In this way, the lower pitch angle changing mechanism 40 changes the pitch angle of the lower rotor 6 in response to the inclination change of the swash plate 7.

On the other hand, since the connecting rods 61, 62, 63 constituting the inclination transmission mechanism 60 are connected to the lower pitch control plate 44, the inclination transmission mechanism 60 operates as follows in response to the inclination change of the swash plate 7. To do.
As described above, the three connecting rods 61, 62, 63 have a twist arrangement structure. Therefore, as shown in FIG. 5, the inclination change occurring in the lower pitch control plate 44 is converted into a different direction inclination change in the opposite direction due to the operation of the connecting rods 61, 62, 63, and transmitted to the inclination. It is transmitted to the plate 64. That is, the tilt transmission plate 64 undergoes tilt changes in opposite directions. Here, for example, as shown in FIG. 5, assuming that the inclination change in the lower pitch control plate 44 is an inclination of −γ (minus γ) with respect to the intersecting direction α orthogonal, the inclination change in the inclination transmission plate 64. Becomes an inclination of + γ (plus γ) with respect to the crossing direction α. Therefore, the same inclination change as that of the inclination transmission plate 64 occurs also in the upper pitch control plate 34 that is in contact with the inclination transmission plate 64.

  The inclination change in the upper pitch control plate 34 is converted into the operation of the upper link 31. In this way, the upper pitch angle changing mechanism 30 changes the pitch angle of the upper rotor 5 in response to the inclination change converted and transmitted by the inclination transmission mechanism 60. However, the change in the pitch angle in the upper rotor 5 is in a direction opposite to the change in the pitch angle of the lower rotor 5, as shown in FIG.

  Thus, in the pitch angle variable mechanism 1, the pitch angle control of both the upper rotor 5 and the lower rotor 6 is performed by moving the swash plate 7 up and down while rotating the upper rotor 5 and the lower rotor 6 in opposite directions. Can be done at once. The pitch angle control of both the upper rotor 5 and the lower rotor 6 is realized by the action of the inclination transmission mechanism 60 that converts the inclination change of the swash plate 7 into an inclination change of a different direction and transmits the change. As described above, 60 has a simple structure including three connecting rods 61, 62, 63, and the like. Therefore, the pitch angle variable mechanism 1 can control the pitch angles of both the upper rotor 5 and the lower rotor 6 with a simple mechanism.

(Embodiment of flying device)
FIG. 2 is a view schematically showing the flying device 100 having the counter rotating wing provided with the variable pitch angle mechanism 1. The flying device 100 includes an upper rotor 5 and a lower rotor 6 that are controlled by the pitch angle variable mechanism 1 and fixed to the upper rotary shaft 3 and the lower rotary shaft 4 that are coaxially arranged. Has been.

  The flying device 100 mounts the swash plate 7 and the like below the fixed disc portion 43 in the pitch angle variable mechanism 1 on the main body portion 70, while the upper rotary shaft 3 and the lower rotary shaft 4 are respectively mounted. Drive motors 23 and 24 for driving and lift motors 20, 21 and 22 for driving the lift rods 10, 11 and 12 are mounted. The driving motors 23 and 24 and the elevating motors 20, 21, and 22 each have a driving circuit 25 for inputting a driving signal. The driving circuit 25 includes a cable 25 a from an external control device 75. A drive signal output instruction is input via the.

  Then, in response to an output instruction from the control device 75, the flying device 100 outputs a drive signal to the motors 23 and 24 by the drive circuit 25, so that the upper rotary shaft 3 and the lower rotary shaft 4 rotate in opposite directions. To do. Then, together with the upper rotary shaft 3 and the lower rotary shaft 4, the upper rotor 5 and the lower rotor 6 rotate in opposite directions to obtain a downward thrust, and the flying device 100 is raised.

  On the other hand, when the drive circuit 25 inputs a drive signal to the lift motors 20, 21, 22 in accordance with an output instruction from the control device 75 and the respective drive amounts are the same, the lift amounts of the lift rods 10, 11, 12 are the same. The swash plate 7 does not tilt and moves up and down while being substantially orthogonal to the lower rotating shaft 4. Then, the pitch angle of the upper rotor 5 and the lower rotor 6 is changed in a direction opposite to each other by the upper pitch angle changing mechanism 30, the lower pitch angle changing mechanism 40, and the tilt converting mechanism 60 in the pitch angle variable mechanism 1. For example, when the pitch angle of the lower rotor 6 is changed to the plus side, the pitch angle of the upper rotor 5 is changed by the same amount to the minus side. Then, since the reaction force of the lower rotor 6 becomes stronger than the reaction force of the upper rotor 6, a rotational motion around the lower rotating shaft 4 occurs, and the propulsive force by the lower rotor 6 increases, while the propulsion force by the upper rotor 5 increases. The power is reduced. However, the propulsive force applied to the main body 70 does not change in total, and the rotary motion is performed while a stable propulsive force is obtained.

  On the other hand, when the drive amounts of the lift motors 20, 21, 22 are different, the lift amounts of the lift rods 10, 11, 12 are different, and the swash plate 7 changes in inclination. As a result, the amount of air blown out (extruded) by the upper rotor 5 and the lower rotor 6 can be increased or decreased. Moreover, since the swash plate 7 can arbitrarily set the inclination direction in any of the front, rear, left, and right directions, the magnitude of the blowing (extrusion) amount is set in any direction, and the flying device 100 is tilted in any direction. The posture can be controlled freely. Thereby, by appropriately adjusting the amount of lifting of the lifting rods 10, 11, and 12, the elevation of the flying device 100 (forward direction (direction F in FIG. 1)), aileron (the twist in the direction toward the front of the flying device 100). ), The rotational motion about the upper rotational shaft 3 and the lower rotational shaft 4. The rotational motion about the upper rotational shaft 3 and the lower rotational shaft 4 can be realized by the amount of elevation of the swash plate 7 and the upper rotor 5. And by adjusting the pitch angle of the lower rotor 6 simultaneously.

  For example, when a tilt change that tilts the swash plate 7 in the traveling direction of the flying device 100 occurs, the same tilt change also occurs in the lower pitch control plate 44. However, a tilt change in the opposite direction (rear direction) occurs in the tilt transmission plate 64, and a tilt change in the opposite direction also occurs in the upper pitch control plate 34. Since the position where the amount of air blown out by the upper rotor 5 becomes strong is 180 degrees opposite to the tilt direction of the upper pitch control plate 34, the position is combined with the position where the amount of air blown out by the lower rotor 6 becomes strong. A force that lifts the traveling direction side of is generated. Therefore, the front (traveling direction) of the flying device 100 is lifted.

  FIG. 3 is a diagram schematically showing another flying device 101 having a counter rotating wing provided with the pitch angle variable mechanism 1. The flying device 101 has the same configuration as the flying device 100 except that the structure of the main body is different. The flying device 101 includes a main body 72 and main wings 71 and 71 projecting laterally from the main body 72. Since the flying device 101 has the contra-rotating wing provided with the pitch angle variable mechanism 1, in addition to the flight performance similar to that of the flying device 100 described above, the flight stability is ensured by having the main wings 71 and 71. It has become so.

It is a perspective view which shows the structure of the whole pitch angle variable mechanism which concerns on embodiment of this invention. It is a figure which shows typically the flight apparatus which has a counter rotating wing provided with the pitch angle variable mechanism shown in FIG. It is a figure which shows typically another flight apparatus which has the contra-rotating wing provided with the pitch angle variable mechanism shown in FIG. It is sectional drawing which shows the principal part of a pitch angle variable mechanism. It is a perspective view which shows the principal part of an inclination transmission mechanism. It is a graph which shows the relationship between the raising / lowering amount of a swash plate, and the pitch angle of both an upper rotor and a lower rotor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Pitch angle variable mechanism, 3 ... Upper rotating shaft 4 ... Lower rotating shaft, 5 ... Upper rotor, 6 ... Lower rotor 7 ... Swash plate 7a, 34a, 44a, 64a ... Ball joint 10, 11, 12 ... Lifting rod 20 , 21, 22 ... Elevating motor 23, 24 ... Drive motor 30 ... Upper pitch angle changing mechanism 31 ... Upper link, 31 ... Upper pitch control plate 35, 45, 65 ... Connection link 40 ... Lower pitch angle changing mechanism 41 ... Lower link 41 ... Lower pitch control plate 60 ... Inclination transmission mechanism 61, 62, 63 ... Connecting rod 64 ... Inclination transmission plate 100, 101 ... Flight apparatus

Claims (5)

A pitch angle variable mechanism for adjusting the pitch angle of the counter rotating blade in which the upper rotor and the lower rotor are respectively fixed to the upper rotating shaft and the lower rotating shaft arranged coaxially,
A swash plate in which the upper rotating shaft and the lower rotating shaft are inserted through a ball joint, and a plurality of lifting rods are connected to a peripheral end;
An elevating motor for raising or lowering each elevating rod along the rotation axis;
A lower pitch angle changing mechanism for changing a pitch angle of the lower rotor in response to a change in inclination of the swash plate around the upper rotating shaft and the lower rotating shaft;
An inclination transmission mechanism that converts the inclination change of the swash plate into a different direction inclination change in a different direction and transmits the change;
A pitch angle variable mechanism comprising: an upper pitch angle changing mechanism that changes a pitch angle of the upper rotor in response to a change in inclination of the swash plate transmitted by the inclination transmission mechanism. The upper pitch angle changing mechanism has an upper link connected to the upper rotor, and an upper pitch control plate to which the upper rotation shaft is inserted through a ball joint, and the upper link is connected.
The lower pitch angle changing mechanism includes a lower link connected to the lower rotor, and a lower pitch control plate to which the upper rotary shaft and the lower rotary shaft are inserted through a ball joint and to which the lower link is connected. The pitch angle variable mechanism according to claim 1, wherein: The lower pitch control plate in the lower pitch angle changing mechanism is disposed in contact with the upper surface of the swash plate,
The tilt transmission mechanism is configured by a tilt transmission plate that contacts the upper pitch control plate via a bearing, and a plurality of connecting rods that connect the tilt transmission plate and the lower pitch control plate. The pitch angle variable mechanism according to claim 2.   The plurality of connecting rods are constituted by three rods having a twist arrangement structure connected to the inclined transmission plate and the lower pitch control plate at positions that are substantially evenly shifted along the circumferential direction. The pitch angle varying mechanism according to claim 3, wherein A flying device having a counter rotating wing having a pitch angle variable mechanism for adjusting a pitch angle, wherein an upper rotor and a lower rotor are respectively fixed to an upper rotating shaft and a lower rotating shaft arranged coaxially.
The pitch angle variable mechanism includes a swash plate in which the upper rotating shaft and the lower rotating shaft are inserted through a ball joint, and a plurality of lifting rods are connected to a peripheral end portion;
An elevating motor for raising or lowering each elevating rod along the rotation axis;
A lower pitch angle changing mechanism for changing a pitch angle of the lower rotor in response to a change in inclination of the swash plate around the upper rotating shaft and the lower rotating shaft;
An inclination transmission mechanism that converts the inclination change of the swash plate into a different direction inclination change in a different direction and transmits the change;
And a top pitch angle changing mechanism that changes the pitch angle of the upper rotor in response to the tilt change of the swash plate transmitted by the tilt transmission mechanism.

Images