JP2022032942A - Flight device - Google Patents

Abstract

To improve commonization efficiency of a part of a thrust generator in a flight device having the thrust generator for generating rotation torque in a different direction.SOLUTION: In a flight device having a plurality of thrust generators for generating thrust by rotating a rotary blade around a motor rotary shaft, the respective thrust generators have the rotary blade, a grip for holding the rotary blade, a motor, a hub for rotating together with the motor and a pitch angle change mechanism for changing a pitch angle of the rotary blade, and the pitch angle change mechanism has a direct-acting body linearly movable in a rotary shaft direction, a rack installed in the direct-acting body and a pinion for meshing with the rack, and the pinion is installed in the grip, and the rack of one thrust generator among the plurality of thrust generators, is positioned on one side when viewed from the center of the pinion, and the rack of the other thrust generator is positioned on an opposite side of one side of the surface when viewed from the center of the pinion.SELECTED DRAWING: Figure 16A

Description

The present invention relates to a flight device including a plurality of thrust generators.

For example, Patent Document 1 discloses a technique for changing the pitch angle of a propeller (rotor blade, blade) of a thrust generator provided in a flight device. In this technology, the rotary spindle of the thrust generator is formed in a hollow shape, and the operating rods are concentrically arranged in the rotary spindle so as to be movable only in the axial direction, and an arm fixed to the lower end of the operating rod is provided. , Linked to each support shaft of the rotor via a link and lever mechanism. Then, by reciprocating the operation rod in the axial direction, the pitch angle (blade angle) of each rotary blade is changed and adjusted via the link and the lever mechanism.

Japanese Unexamined Patent Publication No. 5-87037

In the case of a flight device equipped with multiple thrust generators such as a multicopter, if the rotor blades of the multiple thrust generators all rotate in the same direction (for example, clockwise), the flight device to be climbed will not rise. It turns clockwise (or turns clockwise while rising). This is because there is no torque that cancels the torque generated by the thrust generator (for example, clockwise torque). In order to cancel the clockwise torque, it is necessary to provide a thrust generator that generates counterclockwise torque (counter torque) in the flight device, but the parts of the thrust generator that generate the clockwise torque and the counterclockwise torque are generated. Different parts of the thrust generator increase development and manufacturing costs.
Therefore, an object of the present invention is to improve the commonality rate of parts of a thrust generator in a flight device provided with a thrust generator that generates rotational torque in different directions.

The flight device according to one aspect of the present invention is a flight device including a plurality of thrust generators that generate thrust by rotating the rotary blades around the rotation axis of the motor, and each of the plurality of thrust generators is a flight device. The rotary wing, a grip that holds the rotary wing and can rotate around a second axis that intersects the rotary axis at a predetermined angle, a motor that rotates the rotary wing around the rotary axis, and the motor. A hub that is attached and rotates with the motor, and a pitch angle changing mechanism that changes the pitch angle of the rotary blade by rotating the grip around the second axis are provided, and the pitch angle changing mechanism is provided. A linear moving body provided in the hub that can move linearly in the direction of the rotation axis and has a surface parallel to the rotation axis direction, a rack attached to the surface of the linear moving body, and a pinion that meshes with the rack. The pinion is attached to the grip, and the rack of one of the plurality of thrust generators is located on one side of the surface as viewed from the center of the pinion. However, the rack of the other thrust generator is located on the opposite side of the surface of the pinion as viewed from the center of the pinion.

The rack of the one thrust generator may be attached to one end of the surface of the linear moving body, and the rack of the other thrust generator may be attached to the other end of the surface of the linear moving body. The plurality may be an even number. Further, the rack of the other thrust generator may have the same shape as the rack of the one thrust generator.
The pinion that meshes with the rack of the one thrust generator may have the same shape as the pinion that meshes with the rack of the other thrust generator.
The one thrust generator and the other thrust generator may be arranged at the same height in the rotation axis direction. Alternatively, the one thrust generator and the other thrust generator may be arranged in tandem coaxially in the direction of the rotation axis.

According to the present invention, in a flight device provided with a thrust generator that generates rotational torque in different directions, it is possible to improve the commonality rate of parts of the thrust generator.

1 (a) is a perspective view showing a state in which a rotary blade is attached to the thrust generator according to the embodiment, and FIGS. 1 (b) and 1 (c) are attached to the thrust generator according to the embodiment. It is a side view which shows the state which changed the pitch angle of a rotary blade. FIG. 2 is a perspective view showing the configuration of the thrust generator of FIG. 1A when viewed from one end side of the rotating shaft in an exploded manner. FIG. 3 is a perspective view showing the configuration of the thrust generator shown in FIG. 1A when viewed from the other end side of the rotating shaft in an exploded manner. 4 (a) is a perspective view showing the configuration of the thrust generator shown in FIG. 2 after assembly, and FIG. 4 (b) is a perspective view showing the configuration of the thrust generator shown in FIG. 3 after assembly. 5 (a) is a plan view showing the configuration of the thrust generator according to the embodiment, and FIG. 5 (b) is a cross-sectional view taken along the line AA of FIG. 5 (a). 6 (a) is a plan view showing the configuration of the thrust generator according to the embodiment, and FIG. 6 (b) is a cross-sectional view taken along the line BB of FIG. 6 (a). 7 (a) is a plan view showing the configuration of a thrust generation motor of the thrust generator according to the embodiment, and FIG. 7 (b) is a cross-sectional view cut along the line CC of FIG. 7 (a). Is. 8 (a) is a perspective view showing the configuration of the pitch variable motor, the vertical transmission unit and the rotary linear motion conversion unit of FIG. 6, and FIG. 8 (b) is the pitch variable motor of FIG. 8 (a), vertical. It is a perspective view which shows the structure which removed the transmission part and the linear motion guide part. 9 (a) is a plan view showing the configuration of a linear moving body to which the rack according to the embodiment is attached, and FIG. 9 (b) is a sectional view taken along the line DD of FIG. 9 (a). 9 (c) is a cross-sectional view taken along the line EE of FIG. 9 (a), and FIG. 9 (d) is a back view showing the configuration of a linear moving body to which the rack according to the embodiment is attached. be. FIG. 10 is an exploded perspective view showing the configuration of the linear moving body to which the rack of FIG. 9A is attached. FIG. 11 is a perspective view showing the configuration of the hub of FIG. 1 (b) in an exploded manner. FIG. 12 is a back view showing the positional relationship between the pinion and the linear moving body to which the rack of FIG. 9D is attached. 13 (a) is a perspective view showing the position of the linear moving body corresponding to the pitch angle of the rotary blade of FIG. 1 (b), and FIG. 13 (b) corresponds to the pitch angle of the rotary blade of FIG. 1 (c). It is a perspective view which shows the position of the linear moving body. FIG. 14 is a cross-sectional view showing the configuration of one grip portion of the linear motion rotation conversion unit according to the embodiment. FIG. 15 is a perspective view showing the configuration of one grip portion of the linear motion rotation conversion unit of FIG. 14 in an exploded manner. FIG. 16A is a diagram showing a linear moving body and a rack adopted when the rotary blade is rotated in the counterclockwise direction (CCW direction) around the rotation axis of the thrust generator. FIG. 16B is a schematic schematic diagram showing the positional relationship between the rack and the pinion adopted when the rotary blade is rotated in the clockwise direction (CW direction) and the counterclockwise direction (CCW direction) around the rotation axis of the thrust generator. be. FIG. 17 is a diagram showing a thrust generator including a rotary blade that rotates in a counterclockwise direction. FIG. 18 is a schematic plan view of the flight device according to the present embodiment. FIG. 19 is a diagram illustrating a thrust generator according to another embodiment. FIG. 20 is a schematic plan view of a flight device including the thrust generator of FIG. FIG. 21 is a perspective view showing a modified example of the extension. FIG. 22 is a cross-sectional view of the modified example shown in FIG. FIG. 23 is another cross-sectional view of the modified example shown in FIG. FIG. 24 is a developed perspective view of the modified example shown in FIG. 21. FIG. 25 is a developed perspective view showing the extension of the modified example shown in FIG. 21, the hub case, and the hub mounting bolt.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the present invention, and not all combinations of features described in the embodiments are essential to the configuration of the present invention. The configuration of the embodiment may be appropriately modified or changed depending on the specifications of the apparatus to which the present invention is applied and various conditions (use conditions, use environment, etc.). The technical scope of the invention is defined by the claims and is not limited by the individual embodiments below. In addition, the drawings used in the following description may differ from the actual structure in terms of scale and shape in order to make each configuration easy to understand.

The flight device of the present embodiment is a flight device including a plurality of thrust generators. The plurality of thrust generators include a thrust generator having a rotary wing rotating clockwise around the motor rotation axis and a thrust generator having a rotary wing rotating counterclockwise around the motor rotation axis.
First, the configuration and function of the thrust generator will be described.Since each thrust generator has almost the same configuration and operation, in the following description, a thrust having a rotary blade rotating in the clockwise direction around the motor rotation axis will be described. The generator will be described. Although the case where the thrust generator has three rotary blades is taken as an example, the number of rotary blades driven by the thrust generator is not necessarily limited to three, and N (N is an integer of 2 or more). It may be a sheet. Flight devices with multiple thrust generators are, for example, multicopters, airplanes, and rotary-wing aircraft. Further, the flight device provided with the plurality of thrust generators may be an automobile having a flight function. In an automobile having a flight function, for example, a plurality of thrust generators 1 are attached around the vehicle body of the automobile.
FIG. 1A is a perspective view showing a thrust generator 1 having a rotary blade that rotates clockwise around the motor rotation axis among the plurality of thrust generators according to the embodiment. Note that rotating clockwise means rotating the thrust generator 1 clockwise when viewed from above. In the following description, the clockwise direction may be referred to as the CW direction. CW is an abbreviation for Clockwise. Further, the counterclockwise direction may be referred to as a CCW direction. CCW is an abbreviation for Clockwise. 1B and 1C are side views illustrating changes in the pitch angle θ of the rotary blade attached to the thrust generator 1 according to the embodiment (the pitch angle of the rotary blade H1 is θ1). .. Each rotor can rotate around the center axis of rotation of the rotor. As can be seen from FIG. 1 (b), the pitch angle θ is an angle measured downward from the line (horizontal line) HR perpendicular to the motor rotation axis S0. The pitch angle θ1 in FIG. 1 (c) is larger than the pitch angle θ1 in FIG. 1 (b). 2 and 3 are perspective views showing the configuration of the thrust generator 1 of FIG. 1 (a) in an exploded manner, and FIGS. 4 (a) and 4 (b) show the thrust generator 1 of FIGS. 2 and 3. It is a perspective view which shows the structure after assembling.

In FIGS. 1 (a), 1 (b) and 1 (c), the thrust generator 1 electrically drives the rotor blades H1 to H3. The rotary blades H1 to H3 are attached to the thrust generator 1 via the grips P1 to P3, respectively. The grips P1 to P3 support the rotor blades H1 to H3 so as to extend horizontally radially from the thrust generator 1. The thrust generator 1 is mounted on the projectile via the mounting surface 1A. The rotor blades H1 to H3 are sometimes referred to as blades.

As shown in FIGS. 1 (a), 1 (b), 1 (c), 2, FIG. 3, FIG. 4 (a) and FIG. 4 (b), the thrust generator 1 is a thrust generator motor. 2 (first motor), pitch variable motor 5 (second motor), rotation transmission unit 6, rotation linear motion conversion unit 7 (first conversion unit), linear motion rotation conversion unit 8 (second conversion unit), extension 9 and hub 10 are provided. The thrust generation motor 2 includes a stator 2A, a rotor 2B, an outer frame 2C, an inner diameter portion 2D, and an inner frame 2E. Further, the rotor 2B includes a rotor shaft 4 and hollow portions 3A and 3B on the inner diameter side. At the axial end of the rotor shaft 4, a mounting portion 4A for mounting the hub 10 via the extension 9 is provided.

The inner frame 2E is located on the radial outer side of the inner diameter portion 2D, and the outer frame 2C is located on the radial outer side of the inner frame 2E. The inner diameter portion 2D is fixed to the outer frame 2C side. The inner frame 2E is fixed to the rotor shaft 4 side and rotates together with the rotor shaft 4. The rotor shaft 4 is housed in the inner diameter portion 2D. At this time, the mounting portion 4A is located outside the inner diameter portion 2D in the axial direction. The rotor 2B is located along the outer peripheral surface of the inner frame 2E. The stator 2A is located along the inner peripheral surface of the outer frame 2C. At this time, the rotor shaft 4, the inner diameter portion 2D, the inner frame 2E, the rotor 2B, the stator 2A, and the outer frame 2C are arranged concentrically from the rotation shaft S0 toward the outer side in the radial direction.

The thrust generation motor 2 generates thrust F by rotating the rotary blades H1 to H3. The stator 2A is composed of an electromagnetic steel plate and windings, and is located outside the rotor 2B. The stator 2A, the inner diameter portion 2D, and the mounting surface 1A are fixed to the outer frame 2C. At this time, the mounting surface 1A can be fixed to the outer frame 2C via the support portion 1C. The inner diameter portion 2D can be fixed to the back side of the mounting surface 1A via the spacer 2F. The spacer 2F can secure a space for accommodating the rotation transmission unit 6 in the thrust generation motor 2.

The mounting surface 1A includes an opening 1B into which the rotation transmission portion 6 can be inserted into the outer frame 2C. The support portion 1C extends radially inward from the outer frame of the outer frame 2C. The inner diameter portion 2D has a cylindrical shape and rotatably supports the rotor shaft 4 via the bearing U1. The inner frame 2E is annular and supports the rotor 2B. The outer frame 2C is annular and supports the stator 2A.

The mounting surface 1A, the outer frame 2C, the inner diameter portion 2D, the inner frame 2E and the spacer 2F can be formed of, for example, an alloy such as duralumin. The mounting surface 1A, the outer frame 2C, the inner diameter portion 2D, the inner frame 2E and the spacer 2F can be integrally formed by a method such as casting, forging or cutting.

The rotor 2B is composed of a magnet or the like and is located outside the rotor shaft 4. The rotor 2B and the rotor shaft 4 are fixed to the inner frame 2E. The rotor shaft 4 rotates about the axis of the rotating shaft S0 via the bearing U1. As the rotor shaft 4 rotates, the rotor 2B and the inner frame 2E also rotate around the axis of the rotation shaft S0. The rotor shaft 4, the mounting portion 4A and the inner frame 2E can be formed of, for example, an alloy such as duralumin. The rotor shaft 4, the mounting portion 4A and the inner frame 2E can be integrally formed by, for example, casting, forging, or cutting.

The hollow portions 3A and 3B are located in the thrust generating motor 2. Further, the hollow portion 3A is located between the rotor 2B and the rotor shaft 4 along the circumferential direction of the rotor 2B. The hollow portion 3B is located on the inner diameter side of the rotor shaft 4 along the axial direction of the rotor shaft 4.

The pitch variable motor 5 generates a rotary motion that changes the pitch angles θ1 to θ3 of the rotary blades H1 to H3. The pitch variable motor 5 is fixed to the inner diameter portion 2D. At least a part of the pitch variable motor 5 is housed in the thrust generating motor 2. At this time, the pitch variable motor 5 can be located in the hollow portion 3A. The rotation shaft of the pitch variable motor 5 can be positioned in parallel with the rotation shaft S0 of the thrust generation motor 2.

The rotation transmission unit 6 transmits the rotational motion generated by the pitch variable motor 5 in the direction perpendicular to the rotation axis S0 of the thrust generation motor 2. That is, the rotation axis of the pitch variable motor 5 and the rotation axis S0 of the thrust generation motor 2 are parallel and different axes, and the rotational motion generated by the pitch variable motor 5 by the rotation transmission unit 6 is used for thrust generation. It is transmitted on the axis of the rotation axis S0 of the motor 2. The rotation transmission portion 6 is fixed to the inner diameter portion 2D. At least a part of the rotation transmission unit 6 is housed in the thrust generation motor 2.

The rotation linear motion conversion unit 7 converts the rotational motion generated by the pitch variable motor 5 and transmitted via the rotation transmission unit 6 into a linear motion LM in the axial direction of the rotation axis S0. At least a part of the rotation linear motion conversion unit 7 is housed in the thrust generation motor 2. At this time, at least a part of the rotation linear motion conversion unit 7 can be located in the hollow portion 3B. In this case, at least a part of the rotation linear motion conversion unit 7 can be projected from the hollow portion 3B toward the rotary blades H1 to H3 along the axial direction of the rotation axis S0. The rotation / linear motion conversion unit 7 is fixed to the inner diameter portion 2D.

The linear motion rotation conversion unit 8 converts the linear motion LM converted by the rotary linear motion conversion unit 7 into rotational motion around the axes of the support axes M1 to M3. The linear rotation conversion unit 8 is located outside the thrust generation motor 2.

The extension 9 is a spacer for maintaining a distance between the thrust generating motor 2 and the rotary blades H1 to H3 in the axial direction of the rotary shaft S0. The extension 9 prevents the rotary blades H1 to H3 from colliding with the thrust generating motor 2. The extension 9 is fixed to the rotor shaft 4 via the mounting portion 4A and rotates together with the rotor shaft 4.

The hub 10 accommodates the linear rotation conversion unit 8 and supports the grips P1 to P3 in a state where the grips P1 to P3 protrude from the hub 10. The hub 10 is fixed to the rotor shaft 4 via the extension 9. That is, the hub 10 is supported by the outer frame 2C in a state of being rotatable around the axis of the rotation axis S0 via the rotor shaft 4. The hub 10 supports the rotary blades H1 to H3 in the direction perpendicular to the axial direction of the rotary shaft S0 via the grips P1 to P3.

When the thrust generation motor 2 operates, the rotor 2B rotates about the rotation shaft S0, so that the rotary blades H1 to H3 rotate. Then, the thrust F of the rotary blades H1 to H3 is generated with the rotation R1 to R3 of the rotary blades H1 to H3. Since the rotations R1 to R3 are clockwise rotations when viewed from above, it can be said that the rotary blades H1 to H3 rotate in the CW direction about the rotation axis S0. The flight device of the present embodiment includes a thrust generator 1 in which the rotor blades H1 to H3 rotate in the CW direction, and a thrust generator 99 (described later) in which the rotor blades H1 to H3 rotate in the CCW direction.

The pitch variable motor 5, the rotation transmission unit 6, and the rotation linear motion conversion unit 7 are fixed to the outer frame 2C side. Therefore, even if the rotor 2B rotates, the pitch variable motor 5, the rotation transmission unit 6, and the rotation linear motion conversion unit 7 do not rotate around the rotation axis S0.

Further, when the pitch variable motor 5 operates, the rotary blades H1 to H3 rotate around the axes of the support shafts M1 to M3, and the pitch angles θ1 to θ3 of the rotary blades H1 to H3 change. At this time, the rotational movement of the pitch variable motor 5 is transmitted to the rotation linear motion conversion unit 7 via the rotation transmission unit 6. Then, the rotational motion of the pitch variable motor 5 is converted into a linear motion LM in the axial direction of the rotation axis S0 by the rotation linear motion conversion unit 7. Then, the linear motion LM converted by the rotary linear motion conversion unit 7 is converted into three rotational motions around the axes of the support axes M1 to M3 by the linear motion rotation conversion unit 8. Then, the rotational motion of the support shafts M1 to M3 is transmitted to the rotary blades H1 to H3 via the grips P1 to P3, respectively, and the pitch angles θ1 to θ3 of the rotary blades H1 to H3 are changed.

Here, the thrust generator 1 can change the thrust by changing the pitch angles θ1 to θ3 of the rotary blades H1 to H3. Further, the thrust generator 1 can improve the stability of the flight device by increasing the response speed of the thrust change by making the pitch angles θ1 to θ3 variable, and the blade length (rotor blade H1). It is possible to secure the thrust required for the flight device without lengthening the length), and it is possible to suppress the increase in size and weight of the thrust generator 1. Further, since the thrust required in each situation can be generated at a lower rotation speed of the thrust generation motor 2 when compared with the fixed pitch, noise depending on the rotation speed can be suppressed.

Further, the thrust generator 1 does not need to use hydraulic pressure by electrically changing the pitch angles θ1 to θ3 of the rotary blades H1 to H3. Therefore, it is not necessary to provide a complicated rotary seal mechanism for oil-sealing the hydraulic control unit for controlling the supply and discharge of oil and the rotating body, and it is possible to suppress the increase in the size of the thrust generator 1. At the same time, the maintainability of the thrust generator 1 can be improved.

Further, the linear motion rotation conversion unit 8 converts one linear motion LM converted by the rotary linear motion conversion unit 7 into three rotational motions around the axes of the support axes M1 to M3, thereby rotating the linear motion linear motion. The pitch angles θ1 to θ3 of the three rotary blades H1 to H3 can be adjusted based on one linear motion LM converted by the conversion unit 7, and the size of the thrust generator 1 can be suppressed. .. The linear rotation conversion unit 8 can be referred to as a pitch angle changing mechanism.

Further, by accommodating at least a part of the rotation linear motion conversion unit 7 in the thrust generation motor 2, the amount of protrusion of the rotation linear motion conversion unit 7 from the thrust generation motor 2 in the axial direction of the rotation axis S0 can be increased. Can be reduced. Therefore, even when the thrust generating motor 2 generates the thrust of the rotary blades H1 to H3 and the pitch variable motor 5 makes the pitch angles θ1 to θ3 of the rotary blades H1 to H3 variable, the axis of the rotary shaft S0 It is possible to make the thrust generator 1 compact in the direction.

Further, by accommodating at least a part of the rotary linear motion conversion unit 7 in the hollow portion 3B, the rotary linear motion conversion unit 7 does not increase the size of the thrust generating motor 2 in the axial direction of the rotary shaft S0. At least a part of it can be accommodated in the thrust generating motor 2, and the thrust generating device 1 can be made compact in the axial direction of the rotating shaft S0.

Further, by transmitting the rotational movement generated by the pitch variable motor 5 via the rotational transmission unit 6, the rotary shaft S0 of the thrust generation motor 2 and the rotary shaft of the pitch variable motor 5 are arranged in parallel. This makes it possible to accommodate the pitch variable motor 5 in the thrust generating motor 2.

Further, by accommodating the linear motion rotation conversion unit 8 in the hub 10, the thrust generator 1 can be made compact in the axial direction of the rotation axis S0, and the linear motion rotation conversion unit 8 is exposed to the outside. It is possible to prevent this from happening.

Here, when the rotary blades H1 to H3 rotate around the axis of the rotary shaft 4, centrifugal forces F1 to F3 are applied to the rotary blades H1 to H3, respectively. Centrifugal forces F1 to F3 applied to the rotary blades H1 to H3 are transmitted to the support shafts M1 to M3 via the grips P1 to P3, respectively. At this time, the support shafts M1 to M3 automatically adjust the rotation axis cores of the support shafts M1 to M3 based on the centrifugal forces F1 to F3 transmitted to the support shafts M1 to M3, and the support shafts M1 to M3. It is possible to improve the rotation accuracy around the axis of M3.

Hereinafter, the configuration and operation of the rotation transmission unit 6, the rotation linear motion conversion unit 7, and the linear motion rotation conversion unit 8 will be described more specifically.
5 (a) and 6 (a) are plan views showing the configuration of the thrust generator according to the embodiment, and FIG. 5 (b) is a cross section cut along the line AA of FIG. 5 (a). 6 (b) is a cross-sectional view taken along line BB of FIG. 6 (a), and FIG. 7 (a) shows a configuration of a thrust generating motor of the thrust generating device according to the embodiment. The plan view and FIG. 7 (b) are cross-sectional views taken along the line CC of FIG. 7 (a).

In FIGS. 7 (a) and 7 (b), the rotor 2B is supported by the outer frame 2C in a state of being rotatable about the axis of the rotating shaft S0 via the bearing U1. Further, in the thrust generating motor 2, a hollow portion 3A is provided between the rotor 2B and the rotor shaft 4, and a hollow portion 3B is provided in the rotor shaft 4.

Further, in FIGS. 2, 3, 5, 5 (a), 5 (b), 6 (a) and 6 (b), the rotation transmission unit 6 includes gears G1 to G3 and support members BJ1 to BJ3. Be prepared. The gears G1 to G3 transmit the rotational motion of the pitch variable motor 5 to the rotary linear motion conversion unit 7. The gear G1 is attached to one end of the ball screw shaft 7F. The gear G3 is attached to the rotating shaft of the pitch variable motor 5. The gear G2 is provided between the gear G1 and the gear G3 at a position where the gears G1 and G3 mesh with each other.

The outer frame 2C supports the gear G1 and the rotation linear motion conversion unit 7 in a state where the gear G1 and the ball screw shaft 7F can rotate via the support member BJ1. Further, the outer frame 2C supports the gear G3 and the rotation shaft of the pitch variable motor 5 in a rotatable state via the support member BJ3. Further, the outer frame 2C supports the gear G2 in a rotatable state via the support members BJ1 and BJ2. At this time, the gear G2 is arranged at a position where it meshes with the gears G1 and G3 while being sandwiched between the support members BJ1 and BJ2. The material of the gears G1 to G3 is, for example, carbon steel, and the material of the support members BJ1 to BJ3 is, for example, an aluminum alloy. A belt may be used instead of the gear as the mechanism of the rotation transmission unit.

A ball screw can be used as the rotary linear motion conversion mechanism of the rotary linear motion conversion unit 7. A sliding screw may be used as the rotational linear motion conversion mechanism of the rotary linear motion conversion unit 7. The rotation linear motion conversion unit 7 includes a linear motion transmission shaft 7D, a linear motion guide section 7E, a ball screw shaft 7F, and a ball screw nut 7G.

The linear motion guide portion 7E guides the ball screw nut 7G and the linear motion transmission shaft 7D in a direction of linear motion along the rotation axis S0. At this time, the linear motion guide portion 7E regulates the rotational movement of the ball screw nut 7G with the rotation of the ball screw shaft 7F. The linear motion guide portion 7E has a shape protruding from the support member BJ1. The linear motion guide portion 7E can be provided integrally with the support member BJ1.

The ball screw shaft 7F is supported by the support member BJ1 in a rotatable state via the bearing U2. The ball screw shaft 7F rotates together with the gear G1 in a state of being screwed with the ball screw nut 7G via the rolling element, and causes the ball screw nut 7G to move linearly.
The ball screw nut 7G makes a linear motion with the rotational motion of the ball screw shaft 7F, and transmits the linear motion LM to the linear motion transmission shaft 7D.

The linear motion transmission shaft 7D transmits the linear motion LM of the ball screw nut 7G to the linear motion rotation conversion unit 8. The linear motion transmission shaft 7D is fixed to the ball screw nut 7G, and the tip of the linear motion transmission shaft 7D is inserted into the inner ring of the bearing U3. The linear motion transmission shaft 7D has a shape including a part of the ball screw nut 7G and the ball screw shaft 7F.

As the linear rotation conversion mechanism of the linear rotation conversion unit 8, a combination of a rack and a pinion (hereinafter, may be referred to as "rack pinion") can be used. The linear motion rotation conversion unit 8 includes a linear motion element 11, racks A1 to A3, a case 21, support shafts M1 to M3, bearings E1 to E3, adapters D1 to D3, and pinions B1 to B3.

The linear moving body 11 is supported via a bearing U3 so as to be rotatable around the axis of the linear moving transmission shaft 7D together with the rotor shaft 4, the extension 9, and the hub 10. At this time, the linear motion body 11 can move linearly along the axial direction of the rotation axis S0 together with the linear motion transmission axis 7D.

The racks A1 to A3 are supported by the linear moving body 11. The racks A1 to A3 linearly move together with the linear moving body 11 in a state of being meshed with the pinions B1 to B3, respectively, and rotate the pinions B1 to B3, respectively. The racks A1 to A3 are detachably provided on the linear moving body 11. The linear moving body 11 has surfaces Z1 to Z3 parallel to the rotation axis S0, and racks A1 to A3 are attached to the surfaces Z1 to Z3 and extend parallel to the rotation axis S0. When the racks A1 to A3 and the pinions B1 to B3 are arranged in this way, the teeth of the racks A1 to A3 and the teeth of the pinions B1 to B3 face each other, so that motion transmission is smoothly performed.

Each of the support shafts M1 to M3 supports the grips P1 to P3 so as to project horizontally radially from the thrust generator 1 (more specifically, from the hub 10). The support shafts M1 to M3 are held in the case 21 in a state of being rotatable around the axes of the support shafts M1 to M3 via bearings E1 to E3, respectively. The grip P1 and the support shaft M1 can be provided integrally, the grip P2 and the support shaft M2 can be provided integrally, and the grip P3 and the support shaft M3 can be provided integrally. The material of the grips P1 to P3 and the support shafts M1 to M3 is, for example, duralumin. In order to increase the durability of the grips P1 to P3 and the support shafts M1 to M3, for example, titanium may be used as the material of the grips P1 to P3 and the support shafts M1 to M3. The bearings E1 to E3 are provided in the hub 21 and are holding mechanisms that rotatably hold the grips P1 to P3 around the support shafts M1 to M3 (or the rotary shafts JS1 to JS3). When the rotation axis S0 is considered as the first rotation axis, it can be said that the rotation axes JS1 to JS3 are the second axes intersecting the first rotation axis at a predetermined angle.

Each pinion B1 to B3 is fixed to each support shaft M1 to M3, respectively. The pinions B1 to B3 rotate along with the linear motion LM of the racks A1 to A3, and the rotational motion is transmitted to the support shafts M1 to M3. The material of the pinions B1 to B3 and the racks A1 to A3 is, for example, chrome molybdenum steel. The pinions B1 to B3 are detachably provided on the grips P1 to P3.

The case 21 can be used as part of the hub 10. The case 21 is a seamless case without any joints. The case 21 accommodates a linear moving body 11, racks A1 to A3, support shafts M1 to M3, bearings E1 to E3, adapters D1 to D3, and pinions B1 to B3. At this time, the case 21 can accommodate the support shafts M1 to M3 at intervals of 120 ° in the circumferential direction of the rotor shaft 4. The case 21 is fixed to the end face of the rotor 2B via the extension 9. Further, the case 21 can support each of the support shafts M1 to M3 against the centrifugal force applied to the rotary blades H1 to H3 when the rotation shaft S0 rotates around the axis. Details of the support structure of the support shafts M1 to M3 will be described later. The case 21 can be formed by cutting, for example, duralumin.

The adapters D1 to D3 are provided between the support shafts M1 to M3 and the bearings E1 to E3, and are supported by the support shafts M1 to M3, respectively. The inner peripheral surfaces of the adapters D1 to D3 are formed along the outer peripheral surfaces of the support shafts M1 to M3, and the outer peripheral surfaces of the adapters D1 to D3 are formed along the inner peripheral surfaces of the bearings E1 to E3. Ru. Thereby, the adapters D1 to D3 can support the support shafts M1 to M3 on the inner peripheral side of the bearings E1 to E3 while responding to the change in the diameter of the support shafts M1 to M3. The material of the adapters D1 to D3 is, for example, duralumin.

For each bearing U3, E1 to E3, for example, a double-row angular contact ball bearing can be used. As for the multi-row angular contact ball bearings, the single-row angular contact ball bearings may be combined on the back surface and the outer ring may be integrated, or the single-row angular contact ball bearings may be combined on the front surface and the inner rings may be integrated. The multi-row angular contact ball bearings can carry a radial load and an axial load in both directions, and can also load a moment load in the rear combination.

The extension 9 has an annular upper end surface 9H. A flange 9A is provided around the upper end surface 9H of the extension 9. The flange 9A can be provided integrally with the extension 9. A positioning pin J12 for positioning the extension 9 on the rotor 2B is provided on the inner peripheral surface of the extension 9. The positioning pin J12 protrudes by a predetermined amount from the upper end surface 9H of the extension 9, and the protruding portion is fitted into a hole formed in the rotor 2B to position the extension 9 and the rotor 2B. The extension 9 can be attached to the end face of the rotor shaft 4 via the flange 9A. Here, the extension 9 can be fixed to the rotor shaft 4 by screwing the flange 9A to the rotor shaft 4 with the bolt J6. The material for the extension 9 and the flange 9A is, for example, duralumin. A hole 9A1 through which the bolt J6 passes is formed in the flange 9A in the circumferential direction of the flange 9A.

When the pitch variable motor 5 rotates, the gears G1 to G3 rotate along with the rotational movement of the pitch variable motor 5. Then, the ball screw shaft 7F rotates with the rotational movement of the gear G1, and the linear motion transmission shaft 7D moves linearly with the ball screw nut 7G with the rotational movement of the ball screw shaft 7F. At this time, the motion of the ball screw nut 7G and the linear motion transmission shaft 7D is guided by the linear motion guide unit 7E, and is limited to the linear motion along the axial direction of the rotary shaft S0 in the thrust generator 1.

The linear motion LM of the linear motion transmission shaft 7D is transmitted to the linear motion body 11, and along with the linear motion LM of the linear motion transmission axis 7D, the racks A1 to A3 move linearly together with the linear motion body 11. At this time, the racks A1 to A3 linearly move in a state of being meshed with the pinions B1 to B3, respectively, and rotate the pinions B1 to B3. With the rotational movement of the pinions B1 to B3, the support shafts M1 to M3 rotate around their respective axes. Then, the rotational motion of the support shafts M1 to M3 is transmitted to the rotary blades H1 to H3 via the grips P1 to P3, respectively, and the pitch angles θ1 to θ3 of the rotary blades H1 to H3 are changed.

Here, by using the ball screw as the rotary linear motion conversion mechanism of the rotary linear motion conversion unit 7, the drive torque required for changing the pitch angle can be reduced as compared with the case of using the sliding screw, and the pitch can be reduced. The power saving of the variable motor 5 can be achieved.
Further, by providing the linear motion transmission shaft 7D in the rotary linear motion conversion unit 7, the ball screw and the linear motion body 11 can be arranged apart from each other in the axial direction of the rotary axis S0, and the ball screw can be arranged in the thrust generation motor 2. The linear moving body 11 can be housed in the hub 10 while being housed inside.
Further, by using a rack and pinion as the linear rotation conversion mechanism of the linear rotation conversion unit 8, it is possible to align the longitudinal direction of each rack A1 to A3 with the linear motion direction of the linear motion element 11, and each pinion. It is possible to align the circumferential direction of B1 to B3 with the circumferential direction of each support shaft M1 to M3. Therefore, the arrangement of the three rack and pinions can be compactly integrated, and even when the three rack and pinions are provided corresponding to the rotary blades H1 to H3, the size of the hub 10 can be suppressed while suppressing the increase in size. The linear rotation conversion unit 8 can be housed in the hub 10.
As shown in FIGS. 3 and 5B, in the thrust generator 1 of the present embodiment, the linear motion rotation conversion unit 8 which is a variable pitch mechanism is built in the hub 10. The support shafts M1 to M3 of the grips P1 to P3 of the rotary blades H1 to H3 (shafts that rotate together with the pinions B1 to B3 of the linear motion rotation conversion unit 8) are also provided in the hub 10. The support shafts M1 to M3 are shafts (second shafts) extending in a direction intersecting the rotation shaft S0 (first shaft) of the thrust generating motor 2 at a predetermined angle. Preferably, the support shafts M1 to M3 extend radially from the rotation shaft S0. The support shafts M1 to M3 are supported by the hub 10 by bearings E1 to E3 so that they can rotate around the axes of the support shafts M1 to M3, respectively.

Hereinafter, the configuration and operation of the rotation transmission unit 6 and the rotation linear motion conversion unit 7 will be described in more detail.
8 (a) is a perspective view showing the configurations of the pitch variable motor, the rotation transmission unit, and the rotation linear motion conversion unit of FIG. 6, and FIG. 8 (b) shows the rotation linear motion conversion unit of FIG. 8 (a). It is a perspective view which shows the structure which removed the support member to support and the linear motion guide part.

In FIGS. 8A and 8B, the support member BJ1 can be fixed to the outer frame 2C, which is one of the stationary members of the thrust generating motor 2, by the bolt J1. The bolt J1 can be arranged at the four corners of the support member BJ1, for example. The support member BJ2 is fixed to the support member BJ1 by the bolt J2 and the support column 31 in a state where the gear G2 is sandwiched between the support member BJ1 and the support member BJ1. The bolt J2 can be arranged at both ends of the support member BJ2, for example. Both shaft ends of the gear G2 are rotatably supported by the support members BJ1 and BJ2 via bearings. The support member BJ3 can be fixed to the outer frame 2C by bolts J3. The bolt J3 can be arranged at two places, for example, at the end of the support member BJ3. Further, the support member BJ3 can fix the pitch variable motor 5 by the bolt J4.

The ball screw nut 7G includes a flange 7A. The flange 7A has a shape obtained by cutting a cylinder into two parallel planes, and a protruding portion of the flange 7A is arranged at the opening of the linear motion guide portion 7E. The flange 7A can be provided integrally with the ball screw nut 7G.
The linear motion transmission shaft 7D includes a flange 7B and a guide surface 7C. The guide surface 7C includes a sliding member 7H. The flange 7B and the guide surface 7C have a shape obtained by cutting a cylinder into two parallel planes, and the flange 7B is arranged in the opening of the linear motion guide portion 7E.

The flat surface of the flange 7B and the guide surface 7C may be an integral flat surface. The flat surfaces may be two surfaces facing in opposite directions. A region into which the bolt J5 can be inserted can be provided in the protruding portion of the flanges 7A and 7B. By fixing the flange 7A to the flange 7B with the bolt J5 in the state where the flanges 7A and 7B are overlapped with each other, the linear motion transmission shaft 7D can be fixed to the ball screw nut 7G.

Further, the flat surface or the guide surface 7C of the flange 7B may be provided with a recess into which the sliding member 7H can be inserted. Then, the sliding member 7H can be inserted into the recess and fixed to the flange 7B with an adhesive or the like. At this time, the sliding member 7H protrudes from the flat surface. The material of the sliding member 7H is, for example, a resin.

On the other hand, inside the linear motion guide portion 7E, a flat surface facing the flat surfaces of the flanges 7A and 7B and the guide surface 7C can be provided. Then, the sliding member 7H slides on the plane of the linear motion guide portion 7E along with the linear motion LM of the linear motion transmission shaft 7D, thereby limiting the motion of the linear motion transmission shaft 7D in the axial direction of the rotation axis S0. be able to.

Here, a flat surface is provided on a part of the outer peripheral portion of the flanges 7A and 7B and the guide surface 7C, a protruding portion into which the bolt J5 can be inserted is provided on the flanges 7A and 7B, and the protruding portion is an opening of the linear motion guide portion 7E. By arranging it in the section, the outer diameter of the linear motion guide section 7E can be reduced, and the rotary linear motion conversion section 7 can be moved to the rotor shaft while suppressing an increase in the diameter of the rotor shaft 4 in the thrust generating motor 2. It can be stored in 4.

Hereinafter, the configuration and operation of the linear motion rotation conversion unit 8 will be described more specifically.
9 (a) is a plan view showing the configuration of a linear moving body to which the rack according to the embodiment is attached, and FIG. 9 (b) is a cross-sectional view cut along the line DD of FIG. 9 (a). 9 (c) is a cross-sectional view cut along the line EE of FIG. 9 (a), and FIG. 9 (d) is a back view showing the configuration of a linear moving body to which the rack according to the embodiment is attached. 10 is an exploded perspective view showing the configuration of the linear moving body to which the rack of FIG. 9A is attached, FIG. 11 is an exploded perspective view showing the configuration of the hub of FIG. 1B, FIG. 12; 9 (d) is a back view showing the positional relationship between the linear moving body to which the rack is attached and the pinion of FIG. 9 (d), and FIG. 13 (a) shows the linear moving body corresponding to the pitch angle of the rotary blade of FIG. 1 (b). A perspective view showing the position, FIG. 13 (b) is a perspective view showing the position of the linear moving body corresponding to the pitch angle of the rotary blade of FIG. 1 (c).

In FIGS. 9 (a) to 9 (d), FIGS. 10 to 12, 13 (a) and 13 (b), the linear moving body 11 supports the racks A1 to A3 on the surfaces Z1 to Z3. Therefore, convex portions X1 to X3 are provided on each surface Z1 to Z3. Each rack A1 to A3 includes recesses Y1 to Y3 into which the convex portions X1 to X3 can be fitted. The recesses Y1 to Y3 can be provided on the surface of the racks A1 to A3 opposite to the surface on which the teeth are provided.
The convex portions X1 to X3 and the concave portions Y1 to Y3 may be provided with through holes into which pins I1 to I3 can be inserted along the direction of the linear motion LM of the linear motion body 11.

Then, the convex portions X1 to X3 are fitted into the concave portions Y1 to Y3. Then, by inserting the pin I1 into the convex portion X1 and the concave portion Y1, inserting the pin I2 into the convex portion X2 and the concave portion Y2, and inserting the pin I3 into the convex portion X3 and the concave portion Y3, the racks A1 to A3 are directly inserted. It can be fixed to each surface Z1 to Z3 of the moving body 11. In this embodiment, when viewed from below as shown in FIG. 9D, the rack A1 is attached to the right end of the surface Z1, the rack A2 is attached to the right end of the surface Z2, and the rack A3 is attached to the right end of the surface Z3. Has been done.

The linear motion rotation conversion unit 8 includes a base 13, lift guides T1 to T3, linear bushes L1 to L3, and nuts S1 to S3 in order to limit the movement range of the linear motion LM of the linear motion body 11. The base 13 includes an opening 14 that can pass through the tip of the linear motion transmission shaft 7D. The linear moving body 11 includes an opening 12, openings V1 to V3, and surfaces Z1 to Z3. The hub 10 includes a case 21, an outer lid 22, and an inner lid 23. The case 21 includes a housing portion 21A, hollow portions Q1 to Q3, openings 21B, and openings K1 to K3. The inner lid 23 includes a through hole 23A. The outer lid 22 and the inner lid 23 may be collectively referred to as a lid member.

The bearing U3 is inserted into the opening 12, and the linear motion transmission shaft 7D is further inserted into the inner ring of the bearing U3. Lift guides T1 to T3 can be inserted into the openings V1 to V3, respectively. The opening 21B allows the linear moving body 11 to which the racks A1 to A3 are attached to be inserted into the accommodating portion 21A together with the base 13. Each of the openings K1 to K3 (openings K3 are not shown) can be inserted into the case 21 with the support shafts M1 to M3.

The surfaces Z1 to Z3 are provided at positions where the linear moving body 11 is rotationally symmetric three times around the axis of rotation S0. In the three-time rotational symmetry, the shape after rotation can be superimposed on the shape before rotation every time the linear moving body 11 is rotated by 120 ° around the axis of rotation axis S0. Each surface Z1 to Z3 can support racks A1 to A3, respectively. At this time, the surfaces Z1 to Z3 support the racks A1 to A3 at positions where the teeth of the racks A1 to A3 face the direction of the teeth of the pinions B1 to B3. The teeth of the rack A1 mesh with the teeth of the pinion B1, the teeth of the rack A2 mesh with the teeth of the pinion B2, and the teeth of the rack A3 mesh with the teeth of the pinion B3.

The linear motion body 11 is supported by the outer ring of the bearing U3, and the tip of the linear motion transmission shaft 7D is fixed to the inner ring of the bearing U3. The outer ring of the bearing U3 can be attached to the linear moving body 11 by, for example, a C-shaped retaining ring 16. At this time, a groove for positioning the C-shaped retaining ring 16 can be provided on the inner peripheral surface of the opening 12. Further, a spacer 18 can be provided between the outer ring of the bearing U3 and the C-shaped retaining ring 16 to eliminate the gap between the outer ring of the bearing U3 and the C-shaped retaining ring 16.

The inner ring of the bearing U3 can be attached to the tip of the linear motion transmission shaft 7D with, for example, a nut 15. At this time, as shown in FIGS. 8A and 8B, a male screw 7M capable of screwing the nut 15 can be provided at the tip of the linear motion transmission shaft 7D. Further, a spacer 17 can be provided between the inner ring of the bearing U3 and the nut 15 to eliminate the gap between the inner ring of the bearing U3 and the nut 15.

The base 13 supports the lift guides T1 to T3 in an upright position. The lift guides T1 to T3 can be provided integrally with the base 13. The planar shape of the base 13 can be made equal to the planar shape of the linear moving body 11. The positions of the openings V1 to V3 can correspond to the positions of the lift guides T1 to T3.

The linear bushes L1 to L3 can be inserted into the linear moving body 11 via the openings V1 to V3. At this time, the linear bushes L1 to L3 are interposed between the linear moving body 11 and the lift guides T1 to T3. Each linear bush L1 to L3 can be formed into a cylindrical shape into which each lift guide T1 to T3 can be inserted. The material of each linear bush L1 to L3 is, for example, copper or a copper alloy. Each of the linear bushes L1 to L3 can improve the positioning accuracy of the linear motion LM of the linear motion body 11 and reduce the friction during the linear motion of the linear motion body 11.

The accommodating portion 21A accommodates the linear moving body 11 to which the racks A1 to A3 are attached in the case 21 together with the base 13. The accommodating portion 21A is, for example, a hollow portion or a recess provided in the case 21. The planar shape of the accommodating portion 21A can correspond to the planar shape of the base 13. At this time, the planar shape of the accommodating portion 21A can be rotationally symmetric three times around the axis of the rotation axis S0.

On the other hand, the openings K1 to K3 into which the support shafts M1 to M3 can be inserted can be arranged along the outer circumferential surface of the accommodating portion 21A. At this time, the hollow portion Q1 into which the support shaft M1, the pinion B1, the bearing E1 and the adapter D1 can be inserted, the hollow portion Q2 into which the support shaft M2, the pinion B2, the bearing E2 and the adapter D2 can be inserted, and the support shaft M3 and the pinion. A hollow portion Q3 into which B3, a bearing E3 and an adapter D3 can be inserted can be provided in the case 21. Support shafts M1 to M3, pinions B1 to B3, bearings E1 to E3, and adapters D1 to D3 can be inserted into the hollow portions Q1 to Q3, respectively.

The lift guides T1 to T3 are inserted into the linear moving body 11 via the openings V1 to V3. At this time, the lift guides T1 to T3 penetrate the linear bushes L1 to L3 and are interposed between the linear moving body 11 and the lift guides T1 to T3. Then, C-shaped retaining rings (first member) C1 to C3 can be attached to the inner peripheral surfaces of the openings V1 to V3, respectively, and the linear bushes L1 to L3 can be held in the openings V1 to V3. At this time, a groove for supporting the C-shaped retaining rings C1 to C3 can be provided on the inner peripheral surface of each of the openings V1 to V3. Further, spacers O1 to O3 are provided between the linear bushes L1 to L3 and the C-type retaining rings C1 to C3 to eliminate the gap between the linear bushes L1 to L3 and the C-type retaining rings C1 to C3. be able to.

The tips of the lift guides T1 to T3 project to the outside of the inner lid 23 through the through hole 23A. Then, with the tips of the lift guides T1 to T3 protruding to the outside of the inner lid 23, the nuts S1 to S3 are attached to the tips of the lift guides T1 to T3, so that the base 13 is arranged in the accommodating portion 21A. can do.

The inner lid 23 is supported by the case 21. The inner lid 23 can be fixed to the case 21 with bolts J7. The outer lid 22 covers the inner lid 23. The outer lid 22 can be fixed to the inner lid 23. The material of the inner lid 23 is, for example, duralumin, and the material of the outer lid 22 is, for example, a resin. When the outer lid 22 and the inner lid 23 material are removed from the case 21, the racks A1 to A3 and the pinions B1 to B3 can be accessed in the manner described later.

Then, the linear moving body 11 to which the racks A1 to A3 are attached is housed in the accommodating portion 21A. The support shafts M1 to M3 to which the pinions B1 to B3 are attached are housed in the hollow portions Q1 to Q3. At this time, as shown in FIG. 12, the support shafts M1 to M3 are arranged so that the rotation shafts JS1 to JS3 face the perpendicular directions JD1 to JD3 with respect to the surfaces Z1 to Z3 of the linear moving body 11. .. Then, each of the racks A1 to A3 is supported on each of the surfaces Z1 to Z3 at a position where they mesh with the pinions B1 to B3.

Then, along with the linear motion LM of the linear motion transmission shaft 7D, the racks A1 to A3 move linearly together with the linear motion element 11. At this time, the linear motion LM of the linear motion body 11 is guided by the lift guides T1 to T3, and the movement range of the linear motion LM of the linear motion body 11 is limited by the base 13 and the nuts S1 to S3. The pinions B1 to B3 rotate along with the linear motion LM of the racks A1 to A3, and the support shafts M1 to M3 rotate around their respective axes with the rotational motion of the pinions B1 to B3. Then, the rotary blades H1 to H3 rotate with the rotational movement of the support shafts M1 to M3, and the pitch angles θ1 to θ3 of the rotary blades H1 to H3 are changed. For example, when the linear moving body 11 is at the position shown in FIG. 13A, the pitch angles θ1 to θ3 of the rotary blades H1 to H3 are set as shown in FIG. 1B, and the linear moving body 11 is shown in FIG. When it is in the position b), the pitch angles θ1 to θ3 of the rotary blades H1 to H3 are set as shown in FIG. 1 (c).

Here, the surfaces Z1 to Z3 are provided at positions that are rotationally symmetric three times around the axis of the rotation axis S0, and the racks A1 to A3 are arranged on the surfaces Z1 to Z3. By making 11 move linearly, it is possible to generate three rotational movements around the axes of each of the three support shafts M1 to M3. Therefore, the pitch angles θ1 to θ3 of the three rotary blades H1 to H3 can be made variable while allowing the linear motion rotation conversion unit 8 to be housed in the hub 10.

Further, by using a double-row angular ball bearing as the bearing U3, attaching the outer ring of the bearing U3 to the inner surface side of the linear moving body 11 and attaching the inner ring of the bearing U3 to the linear motion transmission shaft 7D, the bearing U3 is directly around the axis of the rotating shaft S0. While preventing the dynamic transmission shaft 7D from rotating, the linear moving body 11 can be rotatably supported around the axis of the rotating shaft S0, and a radial load and an axial load in both directions can be received.

Further, by arranging the support shafts M1 to M3 in the directions JD1 to JD3 in the direction perpendicular to the respective surfaces Z1 to Z3 of the linear moving body 11, the linear motion is performed with the respective surfaces Z1 to Z3 of the linear moving body 11 and the rotational movement. The pinions B1 to B3 to be performed can be arranged in series in the direction in which the rotary blades H1 to H3 extend. Therefore, it is possible to suppress an increase in the path length of the path for converting one linear motion LM transmitted to the linear moving body 11 into three rotational motions transmitted to each of the support axes M1 to M3. While trying to make the linear motion rotation conversion unit 8 compact, the pitch angles θ1 to θ3 of the three rotary blades H1 to H3 can be made variable.

The rotary blades H1 to H3 are arranged below the motor 2, and the thrust generator 1 is mounted on, for example, the lower part of the airframe of the flight device.

Hereinafter, an example of the support mechanism of each of the support shafts M1 to M3 in the case 21 will be described more specifically. In the following description, the support mechanism of the support shaft M1 is taken as an example, but the support mechanism of each of the support shafts M2 and M3 is similarly configured.
FIG. 14 is a cross-sectional view showing the configuration of one grip portion of the linear motion rotation conversion unit according to the embodiment, and FIG. 15 is a perspective view showing the configuration of one grip portion of the linear motion rotation conversion unit of FIG. 14 in an exploded manner. It is a figure.

In FIGS. 14 and 15, the outer peripheral surface of the support shaft M1 includes a surface M1A that is inclined in the axial direction of the support shaft M1 toward the direction of the rotary blade H1. The surface M1A can be a plane that is rotationally symmetric about the axis of the support shaft M1. The surface M1A is, for example, a surface that tapers toward the centrifugal force F1. The surface M1A is, for example, a tapered surface extending in a direction opposite to the direction of the centrifugal force F1. The surface M1A does not necessarily have to be provided on the entire outer peripheral surface of the support shaft M1, and may be provided on a part of the outer peripheral surface of the support shaft M1. The surface M1A may be located at a position where the inner ring of the bearing E1 surrounds the support shaft M1. The surface M1A may be inclined linearly or curvedly toward the rotary blade H1. When the surface M1A is inclined in a curved shape toward the rotary blade H1, it may have an outwardly curved shape, an inwardly curved shape, or a combination of these. May be good. When the surface M1A is linearly inclined toward the rolling blade H1, the surface M1A can be conical. When the surface M1A is inclined in a curved shape toward the centrifugal force F1, it can be, for example, a trumpet shape, a pot shape, or a bell shape.

The inner peripheral surface D1A of the adapter D1 is formed along the surface M1A of the support shaft M1 and receives a force toward the centrifugal force F1 from the surface M1A of the support shaft M1. At this time, the surface M1A of the support shaft M1 receives a force in the direction in which the rotation shaft of the support shaft M1 approaches the rotation center of the support shaft M1 from the inner peripheral surface D1A of the adapter D1 as a reaction thereof. Further, the adapter D1 includes a flange D1B. The flange D1B is located at the end of the adapter D1. The flange D1B receives a force toward the centrifugal force F1 via the bearing E1. The adapter D1 can be divided into two so that it can be mounted on the support shaft M1 inserted in the hollow portion Q1 at the position of the surface M1A.

The case 21 includes a receiving surface 33 that receives a force such that the support shaft M1 is pulled out in the direction of the centrifugal force F1. The receiving surface 33 can be a surface perpendicular to the rotation axis JS1 of the support axis M1. The opening K1 is provided on the receiving surface 33.

The saucer Y1, the thrust bearing L1 and the saucer X1 transmit the centrifugal force F1 applied to the support shaft M1 to the receiving surface 33 via the adapter D1. At this time, the saucer Y1, the thrust bearing L1 and the saucer X1 alleviate the force in the direction of the centrifugal force F1 transmitted via the adapter D1 from being applied to the case 21. Here, the outer diameters of the flange D1B, the saucer Y1, the thrust bearing L1 and the saucer X1 are made larger than the diameter of the opening K1. As a result, the surfaces of the flange D1B, the saucer Y1, the thrust bearing L1, the saucer X1 and the receiving surface 33 can be sequentially pressed against each other, and the support shaft is sequentially passed through the flange D1B, the saucer Y1, the thrust bearing L1 and the saucer X1. The centrifugal force F1 applied to M1 can be received by the receiving surface 33 of the case 21.

The O-ring O1 is mounted at the base of the grip P1 with respect to the support shaft M1. Then, the support shaft M1 to which the O-ring O1 is mounted is inserted into the hollow portion Q1 through the opening K1. The O-ring O1 prevents grease used for the bearing E1 and the thrust bearing L1 from scattering outside the hollow portion Q1 even when a centrifugal force F1 is applied to the rotary blade H1.

Since the outer diameters of the flange D1B, the saucer Y1, the thrust bearing L1 and the saucer X1 are larger than the diameter of the opening K1, the flange D1B, the saucer Y1, the thrust bearing L1 and the saucer X1 are inserted into the hollow portion Q1 through the opening K1. Can not. Therefore, the saucer Y1, the thrust bearing L1 and the saucer X1 are sequentially inserted into the hollow portion Q1 through the opening 21B. At this time, the saucer Y1, the thrust bearing L1 and the saucer X1 are arranged inside the receiving surface 33 so as to pass the support shaft M1.

Next, the adapter D1 is inserted into the hollow portion Q1 via the opening 21B. At this time, the adapter D1 is mounted on the support shaft M1 so as to sandwich the support shaft M1 at the position of the surface M1A of the support shaft M1. Here, convex portions and concave portions can be provided at each end of each divided piece of the adapter D1. The convex portion of one of the divided pieces of the adapter D1 faces the concave portion of the other divided piece of the adapter D1, and the concave portion of the one divided piece of the adapter D1 faces the convex portion of the other divided piece of the adapter D1. Can be placed in. Then, by fitting the convex portion and the concave portion of one of the divided pieces of the adapter D1 into the concave portion and the concave portion of the other divided piece of the adapter D1, the positions of the two divided pieces of the adapter D1 can be aligned.

Next, the shim C1 is inserted into the hollow portion Q1 through the opening 21B. Then, the shim C1 is mounted on the outer periphery of the flange D1B of the adapter D1. The outer diameter of the flange D1B can be made smaller than the inner diameter of the hollow portion Q1 so that the adapter D1 can be mounted on the support shaft M1 in the hollow portion Q1. At this time, by mounting the shim C1 on the outer periphery of the flange D1B, the play of the adapter D1 in the hollow portion Q1 can be removed. The adapter D1 to which the shim C1 is mounted can be arranged at a position where the flange D1B can be pressed against the saucer X1.

Next, the bearing E1 is inserted into the hollow portion Q1 through the opening 21B. At this time, the outer ring of the bearing E1 is supported on the case 21 side, and the support shaft M1 is supported on the inner ring side of the bearing E1 via the adapter D1. One end of the bearing E1 in the axial direction can be arranged so as to be in contact with the flange D1B, and the other end of the bearing E1 in the axial direction can be arranged so as to be in contact with the opening 21B. Further, the end surface B1A of the pinion B1 can face the end surface E1A of the inner ring of the bearing E1. At this time, the end surface B1A of the pinion B1 can be pressed against the end surface E1A of the inner ring of the bearing E1.

Next, the pinion B1 is inserted into the hollow portion Q1 through the opening 21B. The pinion B1 can be attached to one end of the support shaft M1 in the axial direction. Next, the C-shaped retaining ring I1 is inserted into the hollow portion Q1 through the opening 21B and fitted into the groove M1B provided in the support shaft M1. The C-shaped retaining ring I1 can fix the pinion B1 to the support shaft M1 at a position where one end of the support shaft M1 in the axial direction penetrates the pinion B1.

The rotor blade H1 can be attached to the grip P1 with a bolt P1A and a nut P1D. At this time, a washer P1B may be provided between the bolt P1A and the grip P1, and a washer P1C may be provided between the nut P1D and the grip P1.

Centrifugal force F1 is constantly applied to the grip P1 as the thrust generation motor 2 rotates. Here, by forming the surface M1A into a tapered shape, a force is applied in a direction that pushes the adapter D1 apart. At this time, since the spreading direction of the adapter D1 is restricted by the inner ring of the bearing E1, a wedge effect is generated on the support shaft M1 and the adapter D1, and the movement of the support shaft M1 is restricted with respect to the direction of the centrifugal force F1. , The support shaft M1 can be prevented from coming off from the case 21.
As the rotation speed of the thrust generation motor 2 increases, the force with which the adapter D1 presses the inner ring of the bearing E1 increases. Therefore, this wedge effect is increased, and the support shaft M1 can be made more difficult to come off from the case 21 with respect to the centrifugal force F1.

Further, by forming the surface M1A into a tapered shape, even if there is a variation in the mounting of the support shaft M1 or a variation in the processing accuracy of the support shaft M1, the support shaft is in a direction in which the backlash of the shaft core of the support shaft M1 is reduced. The axis of M1 can be automatically adjusted. Most of the centrifugal force F1 is transmitted in the order of the saucer Y1, the thrust bearing L1, the saucer X1 and the case 21 via the flange D1B of the adapter D1 and is supported by the receiving surface 33 of the case 21.

Here, by using the seamless case as the case 21, it is possible to eliminate the need for a fastening member such as a screw in order to form the case 21. Therefore, compared to the case where the split type case is used, the strength of the case 21 itself can be secured, the grip P1 can be supported while omitting the preload mechanism of the bearing E1, and the weight of the linear rotation conversion unit 8 can be reduced. It will be possible.

Further, since the end surface B1A of the pinion B1 can be pressed against the end surface E1A of the inner ring of the bearing E1, the support shaft is supported even when there is a gap for fitting the C-shaped retaining ring I1 between the pinion B1 and the support shaft M1. By utilizing the centrifugal force F1 applied to M1 and pressing the end surface B1A of the pinion B1 against the end surface E1A of the inner ring of the bearing E1, it is possible to remove the backlash when the pinion B1 is attached to the support shaft M1. At the same time, a preload can be applied to the bearing E1. Therefore, the pinion B1 can be fixed to the support shaft M1 without using a fastening member such as a screw, and the mounting mechanism and mounting work for fixing the pinion B1 to the support shaft M1 can be simplified.

The saucer Y1, the thrust bearing L1, the saucer X1, the adapter D1, the shim C1, the bearing E1, the pinion B1 and the C-shaped retaining ring I1 are assembled around the support shaft M1 in the hollow portion Q1 and then via the opening 21B. Can be extracted from the hollow portion Q1. Therefore, the support shaft M1 can be attached to and detached from the case 21. As a result, the support shaft M1 can be pulled out from the case 21 and the grip P1 can be replaced depending on the damage of the grip P1 or the like.

Next, with reference to FIGS. 16A and 17, the configuration of the thrust generator 99 in which the rotary blades H1 to H3 rotate in the CCW direction around the rotation axis S0 will be described. Since the structure of the thrust generator 99 is almost the same as that of the thrust generator 1, the following description will mainly explain the differences.
FIG. 16A is a diagram showing a linear moving body 50 and racks A1 to A3 adopted when the rotary blades H1 to H3 are rotated in the CCW direction around the rotation axis S0. That is, FIG. 16A shows the linear moving body 50 and the racks A1 to A3 adopted by the thrust generator 99. FIG. 16A is a diagram corresponding to FIG. 9 (d). FIG. 17 is a diagram corresponding to FIG. 1 (c) and shows a thrust generator 99.
When preparing the thrust generator 99, first, the rotation direction of the thrust generation motor 2 is set (changed) to the CCW direction. Then, as a part constituting the thrust generator 99, each component described with reference to FIGS. 2 to 15 is prepared, but only the linear moving body 11 is changed to the linear moving body 50. The racks A1 to A3 shown in FIG. 9 are used as they are as the racks A1 to A3 shown in FIG. 16A (however, the mounting positions are different as described later). That is, the racks A1 to A3 in FIG. 9 and the racks A1 to A3 in FIG. 16A are the same parts, and the racks A1 to A3 of the thrust generator 99 have the same shape as the racks A1 to A3 of the thrust generator 1. ing. When compared with the thrust generator 1, as a component, the linear moving body 11 is simply replaced with the linear moving body 50, and the support shafts M1 to M3 of the rotary blades H1 to H3 of the thrust generator 99 rotate around the rotating shafts JS1 to JS3. It is possible to rotate in the opposite direction (details will be described later).
When compared with the thrust generator 1, the pitch angles of the grips P1 to P3 of the thrust generator 99 are inverted with the rotation axis S0 as the axis of symmetry when viewed from the support shafts M1 to M3. As can be seen by comparing FIG. 1 (c) and FIG. 17, in the case of the thrust generator 1 (FIG. 1 (c)), the set pitch angle θ1 of the grip P1 is about 60 degrees diagonally downward to the right, and the rotary blade H1 is Although it is inclined downward to the right, in the case of the thrust generator 99 (FIG. 17), this is inverted with the rotation axis S0 as the axis of symmetry.
As described above, the thrust generating device is obtained by reversing the rotation direction of the thrust generating motor 2, changing the pitch angle θ1 of the grips P1 to P3 as shown in FIG. 17, and changing the linear moving body 11 to the linear moving body 50. The 99 makes it possible to rotate the rotary blades H1 to H3 around the rotation axis S0 in the CCW direction to generate a downward thrust F in the same manner as the thrust generator 1.

As can be seen by comparing FIGS. 9 (d) and 16A, the support shafts M1 to M3 of the rotary blades H1 to H3 are rotated in the opposite direction (opposite direction to the thrust generator 1) around the rotation shafts JS1 to JS3. Therefore, in the thrust generator 99, the mounting positions of the racks A1 to A3 are changed. More specifically, in FIG. 9D, the rack A1 is attached to the right end of the surface Z1 of the linear moving body 11, whereas in FIG. 16A, the rack A1 is attached to the left end of the surface Z1 of the linear moving body 50. When viewed from the center of the surface Z1, the positions of the racks A1 to A3 of the thrust generator 99 are on the opposite side of the positions of the racks A1 to A3 of the thrust generator 1. This arrangement can be expressed as follows using the pinion B1 facing the surface Z1 of the linear moving body. That is, as can be seen from FIG. 12, when viewed from the center of the pinion B1, racks A1 to A3 are provided on one side (right side) of the surface Z1 of the linear moving body 11 of the thrust generator 1, and the thrust generator 99 has Racks A1 to A3 will be provided on the other side (left side) of the surface Z1. Since FIGS. 9 (d) and 16A are views of the linear moving bodies 11 and 50 viewed from above, the left and right sides are reversed when the linear moving bodies 11 and 50 are viewed from below. FIG. 16B is a diagram schematically showing the positional relationship between the pinion B1 and the rack A1 of the thrust generator 1 and the positional relationship between the pinion B1 and the rack A1 of the thrust generator 99. As shown in FIG. 16B, the position of the rack A1 of the thrust generator 99 is opposite to the position of the rack A1 of the thrust generator 1 when viewed from the pinion B1.
Similarly, in FIG. 9D, the rack A2 is attached to the right end of the surface Z2 of the linear moving body 11 (when viewed facing the surface Z2), whereas in FIG. 16A, the rack A2 is the surface Z2 of the linear moving body 50. It is attached to the left end of. Further, in FIG. 9D, the rack A3 is attached to the right end of the surface Z3 of the linear moving body 11 (when viewed facing the surface Z3), but in FIG. 16A, the rack A3 is the surface Z3 of the linear moving body 50. It is attached to the left end. The racks A1 to A3 shown in FIG. 9D and the racks A1 to A3 shown in FIG. 16A are the same parts. If the racks A1 to A3 of FIG. 9D are turned upside down, the racks A1 to A3 of FIG. 16A are obtained. As shown in FIG. 9 (c), the racks A1 to A3 are vertically symmetrical, and therefore, even if they are turned upside down, they mesh with the pinions B1 to B3 in the same manner. The pins I1 to I3 used for the linear moving body 11 can also be used for the linear moving body 50. The pinions B1 to B3 that mesh with the racks A1 to A3 also use the same parts in the thrust generator 1 and the thrust generator 99. That is, the pinions B1 to B3 of the thrust generator 99 have the same shape as the pinions B1 to B3 of the thrust generator 1.
As described above, when viewed on the surfaces Z1 of the linear motion elements 11 and 50, the positions of the racks A1 to A3 of the thrust generator 99 are on the opposite side of the positions of the racks A1 to A3 of the thrust generator 1. This arrangement can be expressed as follows using the pinion B1 facing the surface Z1 of the linear moving body. That is, as can be seen from FIG. 12, when viewed from the center of the pinion B1, racks A1 to A3 are provided on one side (right side) of the surface Z1 of the linear moving body 11 of the thrust generator 1, and the thrust generator 99 has Racks A1 to A3 will be provided on the other side (left side) of the surface Z1. Since FIGS. 9 (d) and 16A are views of the linear moving bodies 11 and 50 viewed from below, the left and right sides are reversed when the linear moving bodies 11 and 50 are viewed from above. FIG. 16B is a diagram schematically showing the positional relationship between the pinion B1 and the rack A1 of the thrust generator 1 and the positional relationship between the pinion B1 and the rack A1 of the thrust generator 99. As shown in FIG. 16B, the position of the rack A1 of the thrust generator 99 is opposite to the position of the rack A1 of the thrust generator 1 when viewed from the pinion B1.

The difference between the linear moving body 11 and the linear moving body 50 is the positions of the convex portions X1 to X3 provided on the surfaces Z1 to Z3 (see FIG. 10). As shown in FIG. 10, the convex portions X1 to X3 are portions that support the racks A1 to A3. As can be seen from FIGS. 10 and 16A, the convex portions X1 to X3 of the linear moving body 50 are formed at the arrangement positions of the racks A1 to A3 (the left end of the surfaces Z1 to Z3).
Since the racks A1 to A3 mesh with the pinions B1 to B3, the direction in which the pinions B1 to B3 rotate when the linear moving body 50 moves in the direction perpendicular to the paper surface of FIG. 16A (when moving in the direction of the reference numeral LM in FIG. 13) When the linear moving body 11 moves in the direction perpendicular to the paper surface in FIG. 9D, the pinsions A1 to A3 are in the opposite direction to the rotation direction. For example, when the pinions B1 to B3 rotate in the CW direction due to the linear motion of the linear motion body 11, the pinions B1 to B3 rotate in the CCW direction due to the linear motion of the linear motion body 50.

Next, the schematic structure of the flight device 100 will be described with reference to FIG. FIG. 18 is a schematic plan view of the flight device 100 according to the present embodiment.
As shown in FIG. 18, the flight device 100 includes an airframe 101, an arm 102 extending in four directions from the airframe 101, and thrust generators 1FL, 99FR, 99RR, and 1RR provided at the tips of each of the four arms 102. And prepare. Here, FL is an abbreviation for Front-Left, which means the front left when viewed from the aircraft 101, and FR is an abbreviation for Front-Right, which means the front right when viewed from the aircraft 101. Further, RL is an abbreviation for Rear-Left, which means the rear left when viewed from the aircraft 101, and RR is an abbreviation for Rear-Right, which means the rear right when viewed from the aircraft 101. That is, it is shown that the thrust generator 1FL is the thrust generator 1 located on the left front side, the thrust generator 99FR is the thrust generator 99 located on the right front side, and the thrust generator 99RL is the left rear side. It is shown that the thrust generator 99 is located in, and the thrust generator 1RR is the thrust generator 1 located on the right rear side. The four thrust generators 1FL, 99FR, 99RL, and 1RR are located on the same horizontal plane. That is, the thrust generator 1 (1FL, 1RR) and the thrust generator 99 (99FR, 99RL) are arranged at the same height when the motor rotation axis S0 direction is the height direction.
Of the four thrust generators 1FL, 99FR, 99RR, and 1RR, the two thrust generators 1FL and 1RR have rotary blades H1 to H3 that rotate in the CW direction around the rotation axis S0. The other two thrust generators 99FR and 99RL have rotary blades H1 to H3 that rotate in the CCW direction around the rotation axis S0. Therefore, the clockwise torque generated by the thrust generators 1FL and 1RR is canceled by the counterclockwise torque generated by the thrust generators 99FR and 99RL. Therefore, the flight device 100 can generate a stable thrust (lift) in the ascending direction. The arrangement of the four thrust generators 1, 1, 99, and 99 is not limited to the arrangement shown in FIG. For example, the thrust generator 1RR may be arranged at the position of the thrust generator 99RL, and the thrust generator 99RL may be arranged at the position of the thrust generator 1RR.

As described above, according to the present embodiment, the flight device 100 includes thrust generators 1FL and 1RR that rotate in the CW direction and thrust generators 99FR and 99RL that rotate in the CCW direction, but the hub case 21, grips P1 to For P3, pitch variable motors (lift actuators) 5, racks A1 to A3, and pinions B1 to B3, common parts can be used for the four thrust generators 1 (1FL, 99FR, 99RL, 1RR). The only parts that differ are the linear moving body 11 and the linear moving body 50. In this way, since the commonality rate of parts is high in the four thrust generators 1FL, 99FR, 99RR, and 1RR, the development cost can be reduced.
The total number of thrust generators 1 and 99 provided in the flight device 100 is not limited to 4. For example, the flight device 100 may include four or more thrust generators 1, 99. The total number of thrust generators 1 and 99 is determined according to the required specifications for the flight device 100.
Considering the cancellation of the counter torque, the total number of the thrust generators 1 and 99 included in the flight device 100 is preferably an even number. That is, it is preferable that the number of thrust generators 1 included in the flight device 10 is equal to the number of thrust generators 99.

FIG. 19 is a diagram illustrating a flight device according to another embodiment. In FIG. 19, two thrust generators 1 and 99 are arranged in tandem. That is, another thrust generator 99 is arranged under one thrust generator 1. The thrust generator 99 is located coaxially with the thrust generator 1 (the rotation axis S0 is common). The rotary blades H1 to H3 of the thrust generator 1 rotate in the CW direction, and the rotary blades H1 to H3 of the thrust generator 99 rotate in the CCW direction. Also in this case, the torque generated by the thrust generator 1 is canceled by the torque generated by the thrust generator 99. Therefore, when the thrust generator 1 and the thrust generator 99 are driven, a stable thrust (lift) is generated. Will be done. The two thrust generators 1, 99 shown in FIG. 19 are used in pairs.
FIG. 20 shows a flight device 100A including a pair of thrust generators 1 and 99 shown in FIG. 19. The flight device 100A includes three thrust generators 1 and three thrust generators 99. Note that FIG. 20 schematically depicts a pair of thrust generators 1 and 99.
In FIG. 20, the flight device 100A has three pairs of thrust generators 1 and 99, but the number of pairs of thrust generators 1 and 99 is not limited to 3, depending on the purpose of use of the flight device 100A and the like. You may increase or decrease.
Although the thrust generator 1 is provided on the thrust generator 99 in FIGS. 19 and 20, the thrust generator 99 may be provided on the thrust generator 1.

<Extension modification example>
In the above embodiment, the extension 9 has the flange 9A, but the extension 9 does not have to have the flange 9A. That is, when a large load does not act on the extension 9, fixing between the extension 9 and the rotor 2B may be simplified from the above-described embodiment by omitting the flange 9A. The configuration in which the extension does not have the flange 9A will be described with reference to FIGS. 21 to 25. In FIGS. 21 to 25, the same parts and configurations as those in the above-described embodiment are designated by the same reference numerals. In this modification, the extension is designated by reference numeral 109.

FIG. 21 is a diagram corresponding to FIG. 4 (b). FIG. 22 is a diagram corresponding to FIG. 5 (b). FIG. 23 is a diagram corresponding to FIG. 6 (b).
FIG. 24 shows the rotor 2B of the thrust generating motor 2, the extension 109, the case 21 of the hub 10, and the hub mounting bolt J10 among the parts shown in FIG. In FIG. 24, the outer lid 22 and the inner lid 23 are removed from the case 21. Although there are actually three bolts J10, only one is shown in FIG. 24.

As shown in FIG. 24, a hole 21F for passing the bolt J10 is formed in the bottom portion 21E of the accommodating portion 21A of the case 21. Although there are actually three holes 21F, only one is shown in FIG. 24. The three holes 21F are holes corresponding to the three holes 9D formed on the lower end surface 9C of the extension 109. The three holes 9D are formed at equal intervals in the circumferential direction of the extension 109 (that is, they are formed at intervals of 120 degrees in the circumferential direction). The three holes 9D are through holes. The case 21 is thrust through the extension 109 by the three bolts J10 passing through the three holes 21F and the three holes 9D and screwing into the three female screw holes 2B2 formed in the end face 2B1 of the rotor 2B. It is fixed to the generation motor 2 (more specifically, the rotor 2B).

As shown in FIG. 24, three pin holes 9F are formed between the three holes 9D on the lower end surface 9C of the extension 109. The pin hole 9F is not a through hole but a hole having a predetermined depth. A positioning pin J11 (FIG. 25) is inserted into the pin hole 9F. The positioning pin J11 inserted into the pin hole 9F protrudes from the lower end surface 9C of the extension 109 by a predetermined height. The protruding portion of the positioning pin J11 fits into a hole (not shown) formed in the case 21. By this fitting, the extension 109 is positioned with respect to the case 21.

Further, as shown in FIG. 22, a pin groove 9G is formed on substantially the upper half of the inner peripheral surface of the extension 109. Three pin grooves 9G are formed at equal intervals in the circumferential direction of the upper end surface 9H of the extension 109. The positions of the three pin grooves 9G correspond to the three holes 2B5 formed in the end face 2B1 of the rotor 2B. The pin groove 9G is a groove having a predetermined length (depth) from the upper end surface 9H (the end surface on the opposite side of the lower end surface 9C) of the extension 109. A positioning pin J12 (FIG. 25) is fitted in the pin groove 9G. The positioning pin J12 fitted in the pin groove 9G protrudes from the upper end surface 9H of the extension 109 by a predetermined height. The protruding portion of the positioning pin J12 fits into the hole 2B5 formed in the end surface 2B1 of the inner frame 2E that supports the rotor 2B shown in FIG. 24. By this fitting, the extension 109 is positioned with respect to the rotor 2B.

The accommodating portion 21A of the case 21 is a hollow space (hollow portion) formed inside the case 21, and the bolt J10 extends from the accommodating portion 21A to the thrust generation motor 2. As can be seen from FIGS. 22 and 24, the case 21 (hub 10) is fixed to the thrust generation motor 2 by the bolt J10. It can also be expressed that the thrust generation motor 2 is fixed to the hub 10 by the bolt J10.
The head of the bolt J10 is located inside the case 21. That is, the bolt J10 that fixes the hub 10 is not located on the outer surface of the thrust generator 1 (it is not exposed to the outside). Therefore, it is unlikely that the bolt J10 will be exposed to dust, rain, or the like. Therefore, the influence of the external environment on the bolt J10 can be reduced.

FIG. 25 shows an extension 109, a case 21 of a hub 10, a hub mounting bolt J10, a positioning pin J11, and a positioning pin J12. The extension 109 has a substantially cylindrical shape. The positional relationship between the extension 109 and the hub case 21 in FIG. 25 is upside down from the positional relationship between the extension 109 and the hub case 21 in FIG. 24.

As shown in FIGS. 22, 24 and 25, in this modification, the extension 109 is fixed to the rotor 2B by the bolt J10. In this modification, since the extension 109 does not have the flange 9A, the shape of the extension 109 can be simplified. Therefore, the manufacturing process of the extension 109 can be simplified. Further, since the flange 9A is not provided, the bolt J6 (FIG. 5B) for fixing the flange 9A to the rotor 2B becomes unnecessary.
Also in this modification, the hub 10 is fixed to the rotor 2B by the bolt J10 inside the case 21. Therefore, it is unlikely that the bolt J10 will be exposed to dust, rain, or the like. Therefore, the influence of the external environment on the bolt J10 can be reduced.

In the above-described embodiment and modification, the extensions 9 and 109 are provided between the rotor 2B and the hub 10, but the extensions 9 and 109 may not be provided. For example, depending on the shape and size of the rotor blades H1 to H3 (or depending on the shape of the end face of the rotor 2B and the shape of the case 21), the rotary blades H1 to H3 are the thrust generation motors even without the extensions 9 and 109. It may not come into contact with or collide with 2. In such a case, the extensions 9 and 109 may be omitted. Even if the extensions 9 and 109 are omitted, the configuration in which the bolt J10 for fixing the hub 10 to the rotor 2B is located inside the case 21 does not change.

1 Thrust generator, H1 to H3 rotary blades, P1 to P3 grips, 2 Thrust generator motors, 2A stators, 2B rotors, 2C frames, 3A, 3B hollow parts, 4 rotor shafts, 5 pitch variable motors, 6 rotation transmissions Unit, 7 Rotational linear motion converter, 8 Linear rotary converter, 9 Extension, 11 Linear motion element, 50 Linear motion element, 99 Thrust generator, 100 Flying device, 100A flight device

Claims (7)

A flight device equipped with a plurality of thrust generators that generate thrust by rotating a rotary blade around the rotation axis of a motor.
Each of the plurality of thrust generators
With the rotor blades
A grip that holds the rotor and can rotate around a second axis that intersects the axis of rotation at a predetermined angle.
A motor that rotates the rotary blade around the rotation axis,
A hub attached to the motor and rotating with the motor,
A pitch angle changing mechanism that changes the pitch angle of the rotary blade by rotating the grip around the second axis, and
Equipped with
The pitch angle changing mechanism includes a linear moving body provided in the hub and capable of linear motion in the rotation axis direction and having a surface parallel to the rotation axis direction, and a rack attached to the surface of the linear motion body. And a pinion that meshes with the rack, the pinion being attached to the grip.
The rack of one of the plurality of thrust generators is located on one side of the surface with respect to the center of the pinion, and the rack of the other thrust generator is the center of the pinion. A flight device characterized in that it is located on the opposite side of the one side of the surface when viewed from the viewpoint. The rack of the one thrust generator is attached to one end of the surface of the linear moving body, and the rack of the other thrust generator is attached to the other end of the surface of the linear moving body. The flight device according to claim 1. The flight device according to claim 1 or 2, wherein the plurality is an even number. The flight device according to any one of claims 1 to 3, wherein the rack of the other thrust generator has the same shape as the rack of the one thrust generator. The one according to any one of claims 1 to 4, wherein the pinion that meshes with the rack of the one thrust generator has the same shape as the pinion that meshes with the rack of the other thrust generator. Flight equipment. The flight device according to any one of claims 1 to 5, wherein the one thrust generator and the other thrust generator are arranged at the same height in the rotation axis direction. The flight device according to any one of claims 1 to 5, wherein the one thrust generator and the other thrust generator are arranged in tandem on the rotation axis.

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