JP2018052227A - Pitch change mechanism and variable pitch type rotary vane mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pitch change mechanism which can be further miniaturized and a variable pitch type rotary vane mechanism including such a pitch change mechanism.SOLUTION: A pitch change mechanism 30 includes: a drive section 31 which outputs rotary driving force to the vicinity of an extension line of a rotary shaft 20a of a rotary vane 10; a straight moving member 32 which receives the rotary driving force by the drive section 31 and moves straight coaxially with the rotary shaft 20a; and an arm member 33 which has one end connected to a blade 11 at a position apart in at least a width direction from a pitch shaft 11a intersecting a width direction of the blade 11 and the other end connected to the straight moving member 32, rotates the blade 11 around the pitch shaft 11a by receiving the straight movement of the straight moving member 32, and changes a pitch.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a pitch changing mechanism that changes the pitch of a blade of a rotor blade, and a variable pitch rotor blade mechanism that includes such a pitch changing mechanism.

  2. Description of the Related Art Conventionally, some rotary wing machines such as helicopters raise or lower the fuselage by changing the pitch of blades of the rotary wing and change the traveling direction thereof. Such a rotary wing machine is equipped with a pitch changing mechanism for changing the pitch of the blades.

  As a pitch changing mechanism, there is known a mechanism for changing the pitch of a blade by vertically moving a member called a swash plate connected to the blade via a rod or the like (see, for example, Patent Document 1). The pitch changing mechanism described in Patent Document 1 is mounted on a model helicopter, and is configured such that a swash plate is moved by a servo motor via a link mechanism constructed by a plurality of arms or the like.

Utility Model Registration No. 3050030

  In recent years, rotary wing aircraft such as radio-controlled multicopters are becoming widespread. In such a rotary wing machine, due to the configuration including a plurality of rotary wings, the pitch changing mechanism in each rotary wing is required to be further reduced in size compared to, for example, a conventional model helicopter.

  Accordingly, it is an object of the present invention to provide a pitch changing mechanism capable of further miniaturization, and a variable pitch type rotary blade mechanism equipped with such a pitch changing mechanism, paying attention to the above situation. To do.

  In order to solve the above problems, a pitch changing mechanism according to the present invention is a pitch changing mechanism that changes the pitch of a blade of a rotary blade, and provides a rotational driving force to the vicinity of an extension line of the rotary shaft of the rotary blade. An output drive unit, a rectilinear member that receives a rotational driving force from the drive unit, and moves linearly on the same axis as the rotation axis, and a position directly away from the pitch axis that intersects the width direction of the blade. An arm member that has one end coupled to the other, the other end coupled to the rectilinear member, and receives the rectilinear movement of the rectilinear member to rotate the blade around the pitch axis to change the pitch. It is characterized by having.

  Here, “coaxial” means substantially coaxial with the rotating shaft, and allows for deviations in manufacturing tolerances and assembly tolerances.

  Here, in the pitch changing mechanism of the present invention, it is preferable that the driving unit outputs a rotational driving force coaxial with a rotating shaft of the rotary blade.

  In the pitch changing mechanism of the present invention, it is preferable that the driving unit is integrally fixed to a rotating blade driving unit that rotates the rotating blade so as to be aligned in a line along the rotating shaft. is there.

  Further, in the pitch changing mechanism of the present invention, it comprises a bar screw that extends coaxially with the rotating shaft, rotates around the rotating shaft coaxially with the rotational driving force by the driving unit, and the rectilinear member comprises: It is also preferable to have a nut portion that is screwed into the rod screw and whose rotation is restricted, and moves linearly through the nut portion when the rod screw rotates.

  Further, in the pitch changing mechanism of the present invention, the drive unit transmits a rotation drive source, an output shaft member disposed coaxially with the rotation shaft, and transmission for transmitting an output of the rotation drive source to the output shaft member. A mechanism, and a case that incorporates the rotation drive source and the transmission mechanism, and supports the output shaft member rotatably while exposing one end side of the output shaft member, and outputs the rotation driving force via the output shaft member It is also suitable to be.

  In the pitch changing mechanism of the present invention, it is also preferable that the drive unit includes a rotation detection unit that detects a rotation amount of the rotational driving force.

  Further, in the pitch changing mechanism of the present invention, the drive unit controls a rotation amount and a rotation direction of the blade around the pitch axis by controlling a rotation amount and a rotation direction of the rotational driving force. It is also suitable to have.

  In order to solve the above-mentioned problem, the variable pitch type rotary blade mechanism of the present invention includes a rotary blade having a blade, a rotary blade drive unit that rotationally drives the rotary blade, and a pitch of the blade of the rotary blade. A pitch changing mechanism for changing, and the pitch changing mechanism is the above-described pitch changing mechanism of the present invention.

  In the variable pitch type rotary blade mechanism of the present invention, it is preferable that the rotary blade driving unit is an outer rotor type motor.

  In the present invention, in the pitch changing mechanism, the moving path of the rectilinear member for changing the pitch of the blade is coaxial with the rotating shaft of the rotary blade, and the drive unit transfers the rotational driving force to the vicinity of the extension line of the rotating shaft. Output. As a result, the rectilinear member and the drive unit can be compactly gathered on the same axis as the rotating shaft of the rotor blade, so that the pitch changing mechanism and the variable pitch rotor blade mechanism can be further reduced in size.

It is a figure which shows the variable pitch type rotary blade mechanism concerning 1st Embodiment of this invention. It is a figure which extracts and shows a pitch change mechanism from Fig.1 (a). It is a figure which extracts and shows a pitch change mechanism from FIG.1 (b). FIG. 4 is an exploded view of the pitch changing mechanism shown in FIG. 3. It is a figure which shows a mode that the pitch of a braid | blade is changed in response to the rectilinear movement of a rectilinear member in a pitch change mechanism. It is a figure which shows the variable pitch type rotary blade mechanism concerning 2nd Embodiment of this invention. It is a figure which extracts and shows a pitch change mechanism from Fig.6 (a). It is a figure which extracts and shows a pitch change mechanism from FIG.6 (b). FIG. 9 is an exploded view of the pitch changing mechanism shown in FIG. 8.

  Hereinafter, an embodiment of a pitch changing mechanism and a variable pitch type rotary blade mechanism of the present invention will be described.

  First, the first embodiment will be described.

  FIG. 1 is a view showing a variable pitch rotor blade mechanism according to the first embodiment of the present invention. FIG. 1A shows a top view of the variable pitch rotary blade mechanism 1, and FIG. 1B shows a cross-sectional view taken along the line V11-V11 in FIG. 1A.

  The variable pitch type rotary blade mechanism 1 of this embodiment is one of a plurality of variable pitch type rotary blade mechanisms mounted on a multicopter. The variable pitch rotor blade mechanism 1 includes a rotor blade 10, a rotor blade drive unit 20, and a pitch changing mechanism 30.

  The rotary blade 10 is a two-blade rotary blade having two blades 11.

  The rotor blade drive unit 20 is an outer rotor type motor, and has a structure in which a stator 22 is substantially accommodated in a cup-shaped rotor 21 opened downward in the drawing. The rotor 21 is supported by the stator 22 via a plurality of bearings 23 so as to be rotatable around the rotation shaft 20a. A flange 221 for fixing the variable pitch type rotary blade mechanism 1 to a frame (not shown) by screwing is provided at a lower portion of the stator 22.

  On the upper surface of the rotor 21, two support columns 211 are erected in such a manner that the rotation shaft 20 a is sandwiched between them and substantially parallel to the rotation shaft 20 a. On each support column 211, a blade support shaft 212 is erected perpendicularly to the support column 211. A blade holder 24 is supported by each blade support shaft 212 via a plurality of bearings 213 so as to be rotatable around the pitch axis 11 a of the blade 11 passing through the center of the blade support shaft 212. One end of the blade 11 is fixed to the blade holder 24.

  The blade holder 24 has a substantially rectangular parallelepiped shape, and is supported by the blade support shaft 212 with one end directed to the support column 211 such that the longitudinal direction thereof follows the pitch axis 11a. An insertion groove for the blade 11 is formed at the other end of the blade holder 24, and one end of the blade 11 fitted into the insertion groove is screwed to fix the one end of the blade 11 to the blade holder 24. .

  When the rotor 21 rotates in the rotary blade drive unit 20, the rotary blade 10 rotates around the rotary shaft 20a together with the rotor 21.

  Then, the blade 11 of the rotor blade 10 is rotated around the pitch axis 11a by the pitch changing mechanism 30 described below, and the pitch of the blade 11 is changed.

  2 is a diagram showing the pitch changing mechanism extracted from FIG. 1A, and FIG. 3 is a diagram showing the pitch changing mechanism extracted from FIG. FIG. 4 is an exploded view of the pitch changing mechanism shown in FIG.

  The pitch changing mechanism 30 includes a drive unit 31, a rectilinear member 32, two arm members 33, and a bar screw 34.

  The drive unit 31 outputs a rotational driving force to the vicinity of the extension line of the rotary shaft 20a of the rotary blade 10. Specifically, the drive unit 31 is a servo mechanism that outputs a rotational driving force about the same axis as the rotational shaft 20a. The drive unit 31 includes a rotation drive source 311, an output shaft member 312, a transmission mechanism 313, a rotation detection unit 314, a control unit 315, and a case 316.

  The rotational drive source 311 is a motor, and outputs a rotational driving force around a motor shaft 311 a that is displaced from the rotational shaft 20 a of the rotor blade 10. The output shaft member 312 is disposed coaxially with the rotary shaft 20 a of the rotary blade 10. The output shaft member 312 is rotatably supported by the case 316 via a bearing 312a with one end thereof exposed. The output shaft member 312 receives the rotational driving force from the rotational driving source 311 via the transmission mechanism 313 and rotates around the rotational shaft 20 a of the rotary blade 10. The transmission mechanism 313 is a reduction gear, and the drive unit 31 outputs a rotational driving force via the output shaft member 312 that rotates at the speed after the reduction.

  The rotation detection unit 314 detects the rotation amount of the rotation driving force output by the drive unit 31, that is, the rotation amount of the output shaft member 312. The rotation detector 314 is a potentiometer connected to the output shaft member 312. The detection result is passed to the control unit 315. The control unit 315 controls the rotation amount and the rotation direction of the blade 11 around the pitch axis 11a by controlling the rotation amount and the rotation direction of the rotational driving force based on the detection result of the rotation detection unit 314.

  One end of the output shaft member 312 of the driving unit 31 exposed to the outside of the case 316 is connected to one end of a rod screw 34 extending coaxially with the rotating shaft 20 a of the rotary blade 10 via a joint 35. Accordingly, the bar screw 34 receives the rotational driving force from the driving unit 31 and rotates about the same axis as the rotary shaft 20 a of the rotary blade 10.

  Here, as shown in FIG. 1, the drive unit 31 is integrally fixed to the rotary blade drive unit 20 so as to be aligned in a line along the rotary shaft 20 a of the rotary blade 10. In the lower part of the stator 22 of the rotor blade drive unit 20 in the figure, a coupling unit 222 with the drive unit 31 is provided. The coupling portion 222 is formed in a cylindrical shape, and a part of the case 316 of the driving unit 31 is fitted into the cylindrical coupling portion 222 and is integrally fixed.

  The rectilinear member 32 receives a rotational driving force from the driving unit 31 via the bar screw 34 and moves linearly in the direction of the arrow D11 on the same axis as the rotating shaft 20a of the rotary blade 10. The rectilinear member 32 includes a guide rod 321, an outer case 322, and a bearing nut 323.

  The guide rod 321 has a hole 321a that opens toward the bar screw 34, and a thread 321a-1 is formed near the opening in the hole 321a. This guide rod 321 is screwed to the bar screw 34 by a screw thread 321a-1.

  Here, as shown in FIG. 1, a guide pipe 223 extending coaxially with the rotary shaft 20 a of the rotary blade 10 is provided at the center of the stator 22 in the rotary blade drive unit 20. The rod screw 34 and the guide rod 321 of the rectilinear member 32 are accommodated in the guide pipe 223. Further, a rotation stop pin 321b is provided on the outer peripheral surface of the guide rod 321. On the other hand, a groove extending in parallel with the rotary shaft 20a of the rotor blade 10 is formed on the inner peripheral surface of the guide pipe 223, and a rotation-preventing pin 321b of the guide rod 321 is fitted into this groove. As a result, the rotation of the guide rod 321 around the rotation shaft 20a is restricted, and when the bar screw 34 rotates, the guide rod 321 is guided by the groove of the guide pipe 223 and becomes a nut portion that moves straight in the direction of the arrow D11.

  The outer case 322 is a member that is positioned between the support columns 211 of the blade 11 and has a substantially rectangular parallelepiped shape. In the center thereof, a through hole is provided through which an end of the guide rod 321 opposite to the bar screw 34 side passes and a bearing nut 323 is fitted. The outer case 322 is connected to the end portion of the guide rod 321 located inside the through-hole so as to be rotatable around the rotary shaft 20a of the rotary blade 10 via a bearing 322a. The bearing nut 323 is fitted in the through hole of the outer case 322 and is fixed to the end portion of the guide rod 321 by a screw 323a.

  The arm member 33 is a bar member bent into an L shape, and one end thereof is firmly connected to one side surface of the four circumferential surfaces of the blade holder 24. Thus, one end of the arm member 33 is indirectly connected to the blade 11 via the blade holder 24 at a position separated from the pitch axis 11 a intersecting the width direction of the blade 11 at least in the width direction.

  On the other hand, the other end of the arm member 33 is connected to the outer case 322. The other end of the arm member 33 is connected to one side surface of the four circumferential surfaces of the outer case 322 that is not opposed to the support pillar 211 of the blade 11. The other end of the arm member 33 is connected via a connecting ring 33a provided at the other end. The connecting ring 33a is connected to one side surface of the outer case 322 with a certain amount of shakiness by a screw 322a whose body is thinner than its inner diameter. The arm member 33 receives the rectilinear movement of the rectilinear member 32 and rotates the blade 11 around the pitch axis 11a to change the pitch.

  FIG. 5 is a diagram illustrating a state in which the pitch of the blade is changed in response to the rectilinear movement of the rectilinear member in the pitch changing mechanism. FIG. 5A shows how the pitch is changed in the pitch changing mechanism 30 when the rectilinear member 32 moves in the descending direction D111. FIG. 5B shows a state in which the rectilinear member 32 moves in the ascending direction D112 and the pitch is changed.

  As described above, one end of the arm member 33 is coupled to the outer case 322 with some backlash by the coupling ring 33a and the screw 322a. On the other hand, the other end of the arm member 33 is firmly connected to the blade holder 24. Further, the movement allowed for the blade holder 24 is only rotation around the pitch axis 11a.

  As shown in FIG. 5A, when the rectilinear member 32 moves in the descending direction D111, the connecting ring 33a at one end of the arm member 33 descends together with the outer case 322. At this time, the other end of the arm member 33 firmly connected to the blade holder 24 cannot be lowered, but the connection ring 33a is connected to the outer case 322 with some backlash. As a result, the connecting ring 33a is lowered while the arm member 33 is tilted within the range allowed by the rattling. In response to the inclination of the arm member 33 at this time, the blade holder 24 (that is, the blade 11) rotates in the direction of the arrow D21 around the pitch axis 11a to change the pitch.

  On the other hand, as shown in FIG. 5B, when the rectilinear member 32 moves in the ascending direction D112, the connecting ring 33a at one end of the arm member 33 rises together with the outer case 322. At this time, the connecting ring 33a rises while the arm member 33 is tilted within a range that allows the rattling of the connecting ring 33a. In response to the inclination of the arm member 33 at this time, the blade holder 24 (that is, the blade 11) rotates in the direction of the arrow D22 around the pitch axis 11a to change the pitch.

  Such a pitch change is performed during the rotation of the rotary blade 10 in the variable pitch rotary blade mechanism 1 around the rotary shaft 20a. When the rotary blade 10 rotates, the outer case 322 connected to the blade holder 24 via the arm member 33 rotates. On the other hand, the guide rod 321 whose rotation is restricted and the central bearing nut 323 fixed thereto do not rotate. In the variable pitch type rotary blade mechanism 1, the lift of the rotary blade 10 is changed by changing the pitch of the blade 11 while the rotary blade 10 is rotating.

  In the first embodiment described above, the moving path of the rectilinear member 32 for changing the pitch of the blades 11 is coaxial with the rotating shaft 20 a of the rotary blade 10. Further, the drive unit 31 outputs the rotational driving force to the vicinity of the extension line of the rotating shaft 20a. Thereby, the rectilinear member 32 and the drive part 31 can be put together compactly coaxially with the rotating shaft 20a of the rotary blade 10. As a result, the pitch changing mechanism 30 and the variable pitch type rotary blade mechanism 1 of the present embodiment are further miniaturized.

  In the present embodiment, the driving unit 31 outputs a rotational driving force that is coaxial with the rotary shaft 20 a of the rotary blade 10. That is, the moving path of the rectilinear member 32 and the rotational axis of the rotational driving force by the drive unit 31 for moving the rectilinear member 32 are coaxial with the rotational axis 20 a of the rotary blade 10. Thereby, the rectilinear member 32 and the drive part 31 can be gathered together more compactly on the same axis as the rotary shaft 20a of the rotary blade 10, and the pitch changing mechanism 30 and the variable pitch type rotary blade mechanism 1 of the present embodiment are further improved. The size has been reduced.

  Moreover, in this embodiment, the drive part 31 is integrally fixed to the rotary blade drive part 20 so that it may be located in a line along the rotating shaft 20a. Thereby, the components of the pitch changing mechanism 30 including the rotary blade drive unit 20 can be more compactly integrated on the same axis as the rotary shaft 20 a of the rotary blade 10. As a result, the variable pitch rotor blade mechanism 1 including the rotor blade drive unit 20 and the pitch changing mechanism 30 is further reduced in size.

  Further, in the present embodiment, the rectilinear movement of the rectilinear member 32 according to the rotational driving force is performed by a compact structure of a ball screw composed of the bar screw 34 and the guide rod 321 as a nut portion whose rotation is restricted. Thereby, the structure concerning the rectilinear movement of the rectilinear member 32 is collected more compactly on the same axis as the rotating shaft 20a of the rotary blade 10. As a result, the pitch changing mechanism 30 and the variable pitch type rotary blade mechanism 1 of the present embodiment are further miniaturized.

  In the present embodiment, the drive unit 31 has a compact structure in which the rotation drive source 311, the transmission mechanism 313, and the output shaft member 312 are accommodated in one case 316. Also in this respect, the pitch changing mechanism 30 and the variable pitch type rotating blade mechanism 1 of the present embodiment are further miniaturized.

  Further, in the present embodiment, the drive unit 31 includes a rotation detection unit 314 that detects the rotation amount in the rotational driving force that is closely related to the pitch change amount of the blade 11. As a result, the pitch changing mechanism 30 and the variable pitch type rotary blade mechanism 1 of the present embodiment including the pitch detection system are further reduced in size.

  In the present embodiment, the drive unit 31 includes a control unit 315 that controls the amount and direction of rotation of the blade 11 around the pitch axis 11a. As a result, the pitch changing mechanism 30 and the variable pitch type rotary blade mechanism 1 of this embodiment including the pitch control system are further reduced in size.

  Moreover, in this embodiment, the rotary blade drive unit 20 is an outer rotor type motor. In general, the outer rotor type motor is easy to provide a space in the center portion through which the rotation axis passes. In this embodiment, by adopting such an outer rotor type motor as the rotary blade drive unit 20, it is easy to provide a moving path of the rectilinear member 32 that passes coaxially with the rotary shaft 20a of the rotary blade 10 and is designed. The upper effort is reduced.

  Next, a second embodiment will be described.

  The second embodiment is different from the first embodiment described above in the structure around the bar screw that linearly moves the rectilinear member. Hereinafter, the second embodiment will be described by paying attention to differences from the first embodiment.

  FIG. 6 is a view showing a variable pitch rotor blade mechanism according to the second embodiment of the present invention. 6A shows a top view of the variable pitch type rotary blade mechanism 5, and FIG. 6B shows a cross-sectional view taken along line V21-V21 in FIG. 6A. In FIG. 6, the same reference numerals as those in FIG. 1 are given to the components equivalent to the components in FIG. 1 showing the variable pitch type rotary blade mechanism 1 of the first embodiment. In the following, redundant description of these equivalent components is omitted.

Also in this embodiment, the rotary blade drive unit 50 is an outer rotor type motor, like the rotary blade drive unit 20 of the first embodiment. However, the rotary blade drive unit 50 has a longer length along the rotary shaft 50a than the rotary blade drive unit 20 of the first embodiment, and its output is large. The rotary blade drive unit 50 has a structure in which a long stator 22 is substantially accommodated in a long rotor 51. The rotor 51 is supported by the stator 52 through a plurality of bearings 53 so as to be rotatable around the rotation shaft 50a.
In addition, the outer rotor type motor of the rotary blade driving unit 50 includes three stators arranged in the axial direction. For example, by using these three stators as U-phase, V-phase, and W-phase magnetic poles, respectively, a motor with higher power and better heat dissipation than other motors of the same diameter is used. Can do.

  A flange 521 for fixing with screws is provided at a lower portion of the stator 52. In the lower part of the stator 52 in the figure, a coupling part 522 with the driving part 31 similar to that in the first embodiment described above is provided. A part of the case 316 of the driving unit 31 is fitted into the cylindrical coupling unit 522 and fixed integrally. A guide pipe 523 that extends coaxially with the rotary shaft 50a of the rotor blade 10 and accommodates guide rods and rod screws (to be described later) in the pitch changing mechanism 60 of the present embodiment is provided at the center of the stator 52. ing.

  7 is a diagram showing the pitch changing mechanism extracted from FIG. 6A, and FIG. 8 is a diagram showing the pitch changing mechanism extracted from FIG. 6B. FIG. 9 is an exploded view of the pitch changing mechanism shown in FIG. 7 to 9, the same components as those shown in FIGS. 2 to 4 for the first embodiment are denoted by the same reference numerals as those in FIGS. In the following, redundant description of these equivalent components is also omitted.

  The pitch changing mechanism 60 of the present embodiment includes a drive unit 31 and two arm members 33 similar to those in the first embodiment, and a rectilinear member 62 and a bar screw 64 that are different from those in the first embodiment.

  Also in this embodiment, the output shaft member 312 of the drive unit 31 has one end exposed to the outside of the case 316 and one end of a rod screw 64 extending coaxially with the rotation shaft 50 a of the rotary blade 10 via the joint 35. Connected. As a result, the bar screw 64 receives the rotational driving force from the driving unit 31 and rotates about the same axis as the rotary shaft 50 a of the rotary blade 10.

  However, the rod screw 64 of this embodiment is a long one that penetrates the guide rod 621 and the bearing nut 623 of the rectilinear member 62. The guide rod 621 is a pipe-like member provided with a through-hole portion 621a, and a thread 621a-1 is formed near the opening on the bearing nut 623 side in the through-hole portion 621a. The guide rod 621 is penetrated by the long rod screw 64 and screwed to the rod screw 64 at the thread 621a-1.

  Then, the rod screw 64 and the guide rod 621 of the rectilinear member 62 are housed in the guide pipe 523 of the stator 52 in the rotary blade driving unit 50 shown in FIG. And the rotation prevention pin 621b of the guide rod 621 is inserted in the groove | channel extended in parallel with the rotating shaft 50a on the internal peripheral surface of the guide pipe 523. As a result, the rotation of the guide rod 621 around the rotation shaft 50a is restricted, and when the bar screw 64 is rotated, the guide rod 621 is guided by the groove of the guide pipe 523 and moves straight in the direction of the arrow D21.

  An outer case 322 similar to that of the first embodiment is connected to the end of the guide rod 621 via a bearing 322a so as to be rotatable around the rotation shaft 50a of the rotary blade 10. The bearing nut 623 is fitted in the through hole of the outer case 322 and is fixed to the end edge of the guide rod 621 while being penetrated by the bar screw 64. And the outer case 322 and the blade holder 24 are connected by the arm member 33 similar to 1st Embodiment.

  In the pitch changing mechanism 60 of the present embodiment, the movement of each part when the pitch of the blade 11 is changed by receiving the rectilinear movement of the rectilinear member 62 is the pitch changing mechanism of the first embodiment described with reference to FIG. The movement of each part of 60 is the same. And also in the variable pitch type | mold rotary blade mechanism 5 of this embodiment, the lift of the rotary blade 10 will be changed by the change of the pitch of the blade 11 in rotation of the rotary blade 10. FIG.

  Needless to say, also in the second embodiment described above, the linearly moving member 62 and the drive unit 31 can be compactly arranged coaxially with the rotary shaft 50a of the rotor blade 10 as in the first embodiment. . As a result, the pitch changing mechanism 60 and the variable pitch type rotary blade mechanism 5 of the present embodiment are further reduced in size.

  Note that the two embodiments described above are merely representative forms of the present invention, and the present invention is not limited to these embodiments. That is, various modifications can be made without departing from the scope of the present invention. Of course, such modifications are also included in the scope of the present invention as long as the pitch changing mechanism and the variable pitch rotor structure of the present invention are provided.

  For example, in the above-described embodiment, the pitch changing mechanisms 30 and 60 and the variable pitch rotating blade mechanisms 1 and 5 mounted on the multicopter are illustrated as an example of the pitch changing mechanism and the variable pitch rotating blade mechanism according to the present invention. Has been. However, the pitch changing mechanism and the variable pitch type rotating blade mechanism according to the present invention are not limited to this, and may be, for example, those mounted on a model helicopter of a single rotor. The pitch changing mechanism and variable pitch type rotary blade mechanism according to the present invention are not limited to specific usage modes.

  Moreover, in embodiment mentioned above, the rotary blade 10 of the 2 blade | wing which has the two blades 11 is illustrated as an example of the rotary blade said to this invention. However, the rotor blade according to the present invention is not limited to this, and any number of blades can be set as long as the number of blades is plural.

  Moreover, in embodiment mentioned above, the rotor blade drive parts 20 and 50 of an outer rotor type motor are illustrated as an example of the rotor blade drive part said to this invention. However, the rotary blade driving section referred to in the present invention is not limited to this, and may be, for example, one employing an inner rotor type motor. However, as described above, it is possible to reduce the design effort by adopting an outer rotor type motor in which a margin is easily provided in the center portion through which the rotation shaft passes.

  Moreover, in embodiment mentioned above, the arm member 33 by which one end is indirectly connected with the blade 11 via the blade holder 24 is illustrated as an example of the arm member said to this invention. However, the arm member referred to in the present invention is not limited to this, and may be directly connected to the side edge of the blade 11, for example.

  In the above-described embodiment, as an example of the pitch changing mechanism according to the present invention, the pitch changing mechanism 30 that converts the rotational driving force of the driving unit 31 into linear movement by the rod screws 34 and 62 and the guide rods 321 and 621. 60 is illustrated. However, the pitch changing mechanism referred to in the present invention is not limited to this. In the pitch changing mechanism according to the present invention, for example, the driving unit outputs a rotational driving force around an axis perpendicular to the extension line in the vicinity of the extension line of the rotary shaft of the rotor blade, and goes straight by a combination of a pinion and a rack. The form etc. which convert to a movement may be sufficient. However, as described above, it is possible to combine the constituent elements more compactly on the same axis as the rotating shaft of the rotating blade by configuring the driving unit to output a rotational driving force about the same axis as the rotating shaft of the rotating blade. Street.

DESCRIPTION OF SYMBOLS 1,5 Variable pitch type rotary blade mechanism 10 Rotary blade 11 Blade 11a Pitch shaft 20, 50 Rotary blade drive part 20a, 50a Rotary shaft 30, 60 Pitch change mechanism 31 Drive part 32, 62 Straight member 33 Arm member 34, 64 Rod Screw 311 Rotation drive source 312 Output shaft member 313 Transmission mechanism 314 Rotation detection unit 315 Control unit 316 Case 321, 621 Guide rod (nut unit)

Claims (9)

A pitch changing mechanism for changing the pitch of the blades of the rotor blades,
A drive unit that outputs a rotational driving force to the vicinity of an extension line of the rotary shaft of the rotor blade;
A rectilinear member that receives a rotational driving force by the driving unit and linearly moves on the same axis as the rotational shaft;
One end is directly or indirectly connected to the blade at a position away from the pitch axis intersecting the width direction of the blade, and the other end is connected to the rectilinear member, and receives the rectilinear movement of the rectilinear member. An arm member that rotates the blade around the pitch axis to change the pitch; and
A pitch change mechanism characterized by comprising:   The pitch changing mechanism according to claim 1, wherein the driving unit outputs a rotational driving force coaxial with a rotating shaft of the rotor blade.   3. The pitch change according to claim 1, wherein the driving unit is integrally fixed to a rotating blade driving unit that rotates the rotating blade so as to be aligned in a line along the rotating shaft. 4. mechanism. A rod screw that extends coaxially with the rotating shaft and receives a rotational driving force by the driving unit and rotates about the same axis as the rotating shaft,
2. The rectilinear member has a nut portion that is screwed to the rod screw and whose rotation is restricted, and moves linearly through the nut portion when the rod screw rotates. The pitch changing mechanism according to any one of?   The drive unit includes a rotation drive source, an output shaft member disposed coaxially with the rotation shaft, a transmission mechanism that transmits the output of the rotation drive source to the output shaft member, the rotation drive source, and the transmission And a case that supports the rotary shaft while exposing one end side of the output shaft member, and outputs the rotational driving force via the output shaft member. Item 5. The pitch changing mechanism according to any one of Items 1 to 4.   The pitch changing mechanism according to claim 1, wherein the driving unit includes a rotation detecting unit that detects a rotation amount of the rotational driving force.   The said drive part is provided with the control part which controls the rotation amount and rotation direction of the said braid | blade around the said pitch axis | shaft by controlling the rotation amount and rotation direction in the said rotational drive force. The pitch changing mechanism according to any one of 1 to 6. A rotor blade having a blade;
A rotary blade drive unit that rotationally drives the rotary blade;
A pitch changing mechanism for changing the pitch of the blades of the rotor blades,
The said pitch change mechanism is a pitch change mechanism as described in any one of Claims 1-7, The variable pitch type rotary blade mechanism characterized by the above-mentioned.   The variable pitch type rotary blade mechanism according to claim 8, wherein the rotary blade driving unit is an outer rotor type motor.

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