JP2022033431A - Thrust generating device - Google Patents

Abstract

To suppress deterioration in variable accuracy of pitch angles on the basis of rotational motion converted from linear motion.SOLUTION: A thrust generating device includes a first conversion part which converts rotational motion of a second motor for generating the rotational motion for changing pitch angles of a rotor to linear motion, and a second conversion part which converts the linear motion converted by the first conversion part to the rotational motion. The second conversion part includes a linear motion body which can linearly move in accordance with the linear motion converted by the first conversion part, a rack-and-pinion which converts the linear motion converted by the first conversion part to the rotational motion, a case which stores the linear motion body and the rack-and-pinion, and an energizing member which generates pressing force in a direction for pressing a rack of the rack-and-pinion against a pinion. The rack is supported by the linear motion body, and the pinion is supported by a support shaft side of the rotor.SELECTED DRAWING: Figure 12

Description

The present invention relates to a thrust generator.

Patent Document 1 discloses, for example, a technique for electrically varying the pitch, which is the mounting angle of a propeller (rotor blade) with respect to a rotating shaft, without using hydraulic pressure. In this technique, the rotary spindle is formed in a hollow shape, the operating rods are concentrically arranged in the rotary spindle so as to be movable only in the axial direction, and the arm fixed to the lower end of the operating rod is a link and a lever. It is connected to each support shaft of the blade via a mechanism. Then, by reciprocating the operation rod in the axial direction, the mounting angle of each blade is changed via the link and the lever mechanism.

Japanese Unexamined Patent Publication No. 5-87037

However, in the technique disclosed in Patent Document 1, in order to change the mounting angle of each blade, an arm fixed to the lower end of the operation rod is connected to each support shaft of the blade via a link and a lever mechanism. At this time, if there is play in the link and lever mechanism, the variable accuracy of the pitch angle may decrease.
Therefore, an object of the present invention is to provide a thrust generator capable of suppressing a decrease in variable accuracy of a pitch angle based on a rotational motion converted from a linear motion.

In order to solve the above problems, according to the thrust generator according to one aspect of the present invention, the first motor that generates the thrust of the rotary blade and the second motor that generates the rotary motion that changes the pitch angle of the rotary blade. The second is provided with a motor, a first conversion unit that converts the rotational motion of the second motor into a linear motion, and a second conversion unit that converts the linear motion converted by the first conversion unit into a rotary motion. The conversion unit includes a linear motion body capable of linear motion according to the linear motion converted by the first conversion unit, a rack and pinion that converts the linear motion converted by the first conversion unit into rotary motion, and the linear motion body and the conversion unit. A case for accommodating the rack and pinion and an urging member for generating a pressing force in a direction for pressing the rack and pinion rack against the pinion are provided, the rack is supported by the linear motion body, and the pinion is the pinion. It is supported on the support shaft side of the rotary blade.

As a result, the rack can be pressed against the pinion by the urging member, and even when the linear moving body rotates due to backlash during meshing of the rack and pinion gear, it is converted from the linear motion of the linear moving body. It is possible to suppress a decrease in the variable accuracy of the pitch angle due to the rotational motion.

Further, according to the thrust generator according to one aspect of the present invention, the urging member is provided in the gap between the case and the linear moving body, and is housed in the case with the linear moving body. It is a contactable spacer.

As a result, even when the linear moving body rotates due to backlash when the rack and pinion gears are engaged, the rotation can be received by the spacer, and it is based on the rotational movement converted from the linear motion of the linear moving body. It is possible to suppress a decrease in the variable accuracy of the pitch angle.

Further, according to the thrust generator according to one aspect of the present invention, the spacer contacts the first contact surface in contact with the linear moving body, the second contact surface in contact with the rack, and the inner surface of the case. A third contact surface is provided.

As a result, even when the linear moving body rotates due to backlash when the rack and pinion gears are engaged, the rotation of the linear moving body is received by the first contact surface, and the rotation of the rack is received by the second contact surface. The rotation of the spacer can be received by the inner surface of the case. Therefore, even when backlash occurs when the rack and pinion gears are engaged, it is possible to suppress a decrease in the variable accuracy of the pitch angle based on the rotational motion converted from the linear motion of the linear motion body.

Further, according to the thrust generator according to one aspect of the present invention, the spacer includes a notch provided in the third contact surface so as to be parallel to the second contact surface.

As a result, the rack can be preloaded by utilizing the separation force generated when the rack and pinion gears are engaged, and backlash when the rack and pinion gears are engaged can be reduced.

Further, according to the thrust generator according to one aspect of the present invention, the case is attached to the rotor side of the first motor by a bolt inserted in the case, and the spacer is attached to the bottom surface side of the spacer. It is provided with an escape hole for receiving the bolt.

This makes it possible to attach the case to the rotor side of the first motor while preventing the bolts from being exposed to the outside of the case, and the position of the bolts can be fixed with spacers to prevent the bolts from coming off. Can be prevented.

Further, according to the thrust generator according to one aspect of the present invention, the case is provided with an opening into which the linear moving body and the rack and pinion can be inserted into the case, and the inner lid for closing the opening is the said. When fixed to the case, the bolt is pressed by the spacer at the position of the clearance hole.

As a result, the bolt can be pressed against the bottom surface of the case by the spacer, and the bolt can be prevented from coming off.

Further, according to the thrust generator according to one aspect of the present invention, the inner lid and the outer lid are provided with a screw for fixing the inner lid to the case and an outer lid for pressing the screw against the inner lid. Can fit into each other.

As a result, it is possible to prevent the screw for fixing the inner lid to the case from coming off without using the fastening method by friction. Therefore, it is possible to attach a hub that supports the rotor while relying on the Aviation Law.

Further, according to the thrust generator according to one aspect of the present invention, the linear moving body has N faces corresponding to each of N (N is an integer of 2 or more) rotor blades, and the rack and pinion is used. The pinion comprises N racks and N pinions corresponding to each of the N rotors, and the spacer comprises N spacers that can contact each of the N surfaces, the N spacers. The racks are supported by the N planes, respectively, and the N pinions are supported by the support shaft sides of the N rotor blades, respectively.

As a result, by linearly moving one linear motion element, it is possible to generate N rotary motions with each support axis of the N rotary blades as a rotary axis, and a rack and pinion gear. Even when the linearly moving body rotates due to the backlash at the time of meshing, the rotation can be prevented. Therefore, it is possible to make the pitch angle of the N rotor blades variable while improving the variable accuracy of the pitch angle of the N rotor blades, and it is possible to make the second conversion unit compact. ..

Further, according to the thrust generator according to one aspect of the present invention, the N faces are provided at positions that are rotationally symmetric N times around the axis of the rotation axis of the first motor, and the N faces are provided. The rack is provided at a position that is rotationally symmetric N times around the axis of rotation of the first motor, and the N pinions are rotationally symmetric N times around the axis of rotation of the first motor. The N spacers are provided at positions that are rotationally symmetric N times around the axis of the rotation axis of the first motor.

As a result, by linearly moving one linear motion element, it is possible to uniformly generate N rotary motions with the support axes of each of the N rotary blades as the rotary axes, and rack and pinion. Even when the linearly moving body rotates due to backlash during meshing of the gears, the rotation can be prevented. Therefore, it is possible to make the pitch angle of the N rotor blades variable while uniformly improving the variable accuracy of the pitch angle of the N rotor blades, and to make the second conversion unit compact. Can be done.

According to one aspect of the present invention, it is possible to suppress a decrease in the variable accuracy of the pitch angle based on the rotational motion converted from the linear motion.

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. FIG. 8 is a perspective view showing the configuration of the hub of FIG. 1 (b) in an exploded manner. 9 (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. 9 (b) is the pitch variable motor of FIG. 9 (a), vertical. It is a perspective view which shows the structure which removed the transmission part and the linear motion guide part. 10 (a) is a bottom view showing the configuration of a linear moving body to which the rack according to the embodiment is attached, and FIG. 10 (b) is a sectional view taken along the line DD of FIG. 10 (a). 10 (c) is a cross-sectional view taken along the line EE of FIG. 10 (a), and FIG. 10 (d) is a top view showing the configuration of a linear moving body to which the rack according to the embodiment is attached. be. FIG. 11 is an exploded perspective view showing the configuration of the linear moving body to which the rack of FIG. 10A is attached. FIG. 12 is a perspective view showing an example of arrangement of the lift spacer in the case of FIG. FIG. 13 is a perspective view showing an example of arrangement of a linear moving object, a rack and pinion, and a lift spacer in the case of FIG. 14 (a) is a perspective view showing the configuration of the lift spacer of FIG. 12, FIG. 14 (b) is a front view showing the configuration of the lift spacer of FIG. 14 (a), and FIG. 14 (c) is FIG. FIG. 14 (d) is a plan view showing the structure of the lift spacer of FIG. 14 (a), and FIG. 14 (d) is a bottom view showing the structure of the lift spacer of FIG. 14 (a). FIG. 15 is a perspective view showing the fitting method of the inner lid and the outer lid of FIG. 8 in an exploded manner. FIG. 16 is a top view showing the positional relationship between the pinion and the linear moving body to which the rack of FIG. 10D is attached. 17 (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. 17 (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.

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.

In the following description, the case where the number of rotor blades driven by the thrust generator is three is taken as an example, but the number of rotor blades driven by the thrust generator is not necessarily limited to three, and N (N is It may be an integer of 2 or more).
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. Side views showing a state in which the pitch angle of the rotary blade is changed, FIGS. 2 and 3, are perspective views showing the configuration of the thrust generator of FIG. 1 (a) in an exploded manner, FIGS. 4 (a) and 4 (FIG. 4). b) is a perspective view showing the configuration of the thrust generators of FIGS. 2 and 3 after assembly.

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 projectile equipped with the thrust generator 1 is, for example, a flyable airframe or a vehicle body such as a multicopter flying by a motor, an airplane, a rotorcraft, and an automobile having a flight function.

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. (1st motor) 2, pitch variable motor (2nd motor) 5, rotation transmission unit 6, rotation linear motion conversion unit (1st conversion unit) 7, linear motion rotation conversion unit (2nd conversion unit) 8, 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 rotates the rotary blades H1 to H3 around the axis of the rotary shaft S0 in FIG. 1B to generate the thrust F of the rotary blades H1 to H3. The stator 2A comprises an electrical steel sheet 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.

Here, 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, one 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 increase the response speed of the thrust change by making the pitch angles θ1 to θ3 variable, improve the stability of the projectile, and do not increase the blade length. It is possible to secure the thrust required for the flying object, 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. ..

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 propulsive force 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 rotary shaft S0 The thrust generator 1 can be made compact in the axial 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 rotor 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. A plan view, FIG. 7 (b) is a cross-sectional view cut along the line CC of FIG. 7 (a), and FIG. 8 is a perspective view showing the configuration of the hub of FIG. 1 (b) in an exploded manner. ..

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), 6 (b) and 8, the rotation transmission unit 6 is the gears G1 to G3 and the support member BJ1. ~ BJ3 is provided. 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 inner diameter portion 2D supports the gear G1 and the rotary linear motion conversion portion 7 in a state where the gear G1 and the ball screw shaft 7F can rotate via the support member BJ1. Further, the inner diameter portion 2D 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 inner diameter portion 2D 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.

The hub 10 includes a linear rotation conversion unit 8, an outer lid 22, and an inner lid 23. A rack and pinion can be used as the linear rotation conversion mechanism of the linear rotation conversion unit 8. 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, pinions B1 to B3, and lift spacers N1 to N3.

The linear moving body 11 is supported via a bearing U3 in a state of being rotatable about the axis of the linear moving transmission shaft 7D. 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.

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. 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.

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 case 21 can be used as part of the hub 10. The case 21 is a non-divided case manufactured by processing one member without dividing one member. The case 21 is, for example, a seamless case without a joint. 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 the support shafts M1 to M3 against the centrifugal forces F1 to F3 applied to the rotary blades H1 to H3 when the rotation shaft S0 rotates around the axis. The case 21 can be integrally 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.

As the bearings U3 and E1 to E3, for example, double-row angular contact ball bearings 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.

Each lift spacer N1 to N3 is used as an urging member that generates a pressing force in a direction in which the racks A1 to A3 are pressed against the pinions A1 to A3. The lift spacers N1 to N3 are provided in the gap between the case 21 and the linear moving body 11 and can come into contact with the linear moving body 11. At this time, the lift spacers N1 to N3 can be arranged in each corner portion of the accommodating portion 21A in a state of being in contact with the linear moving body 11. The height of each lift spacer N1 to N3 can be equal to the depth of the accommodating portion 21A. The material of each lift spacer N1 to N3 is, for example, a resin.

The extension 9 can be attached to the end surface of the rotor shaft 4 via the mounting portion 4A. Here, the case 21 and the extension 9 can be fixed to the rotor shaft 4 by inserting the bolts W1 to W3 into the accommodating portion 21A and screwing them to the mounting portion 4A through the extension 9. The material of extension 9 is, for example, duralumin.

At this time, the knock pin 9E can be inserted into the facing surface of the case 21 and the extension 9, and the marker pin 9F can be inserted into the facing surface of the mounting portion 4A and the extension 9. This makes it possible to improve the positioning of the case 21 and the extension 9 while ensuring a clearance for screwing the case 21 and the extension 9 to the mounting portion 4A, and torque in the circumferential direction applied to the bolts W1 to W3. Can be escaped.

The inner lid 23 covers the accommodating portion 21A. The inner lid 23 includes a through hole 23A. 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. At this time, the inner lid 22 and the outer lid 23 can be fitted to each other, and a fixing method that does not use friction can be used. 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 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 a ball screw as the rotary linear motion conversion mechanism of the rotary linear motion conversion unit 7, the drive torque required for pitch variable can be reduced as compared with the case where a sliding screw is used, and for pitch variable use. The power saving of the 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 generating 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, the longitudinal direction of each rack A1 to A3 can be aligned with the linear motion direction of the linear motion element 11, and each rack and pinion can be aligned with the linear motion direction. It is possible to align the circumferential directions of the pinions B1 to B3 with the circumferential directions of the support shafts M1 to M3. Therefore, the arrangement of the three rack and pinions can be compactly grouped around the linear moving body 11, and even when the three rack and pinions are provided corresponding to the rotary blades H1 to H3, the hub 10 is provided. It is possible to accommodate the linear motion rotation conversion unit 8 in the hub 10 while suppressing the increase in size.

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.
9 (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. 9 (b) shows the rotation linear motion conversion unit of FIG. 9 (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. 9A and 9B, the support member BJ1 can be fixed to the inner diameter portion 2D 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 inner diameter portion 2D by the bolt 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.
10 (a) is a bottom view showing the configuration of a linear moving body to which the rack according to the embodiment is attached, and FIG. 10 (b) is a cross-sectional view cut along the DD line of FIG. 10 (a). 10 (c) is a cross-sectional view taken along the line EE of FIG. 10 (a), and FIG. 10 (d) is a top view showing the configuration of a linear moving body to which the rack according to the embodiment is attached. FIG. 11 is a perspective view showing the configuration of the linear moving body to which the rack of FIG. 10A is attached in an exploded manner.

In FIGS. 10 (a) to 10 (d) and FIG. 11, the linear moving body 11 includes an opening 12 and surfaces Z1 to Z3.
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 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.
At this time, 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. 9A and 9B, 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.

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 of the three rotary blades H1 to H3 can be made variable while the linear rotation conversion unit 8 can be accommodated 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.

Since the linear moving body 11 supports each rack A1 to A3 on each surface Z1 to Z3, the linear moving body 11 is provided with convex portions X1 to X3 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 guide 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, the guide pin I1 is inserted into the convex portion X1 and the concave portion Y1, the guide pin I2 is inserted into the convex portion X2 and the concave portion Y2, and the guide pin I3 is inserted into the convex portion X3 and the concave portion Y3. A3 can be fixed to each surface Z1 to Z3 of the linear moving body 11.

The linear motion rotation conversion unit 8 further includes a lift guide 19, 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 lift guide 19 includes guide pins T1 to T3 and a guide base 13. The guide base 13 includes an opening 14 that can pass through the tip of the linear motion transmission shaft 7D. Further, the linear moving body 11 further includes openings V1 to V3.

Guide pins T1 to T3 can be inserted into the openings V1 to V3, respectively. The guide base 13 supports the guide pins T1 to T3 in an upright position. The guide pins T1 to T3 can be provided integrally with the guide base 13. The planar shape of the guide 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 guide pins 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 guide pins T1 to T3. The linear bushes L1 to L3 can be formed into a cylindrical shape into which the guide pins 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 guide pins T1 to T3 are inserted into the linear moving body 11 via the openings V1 to V3. At this time, the guide pins T1 to T3 penetrate the linear bushes L1 to L3 and are interposed between the linear moving body 11 and the guide pins T1 to T3. Then, C-shaped retaining rings 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 guide pins T1 to T3 project to the outside of the inner lid 23 through the through hole 23A. Then, with the tips of the guide pins T1 to T3 protruding to the outside of the inner lid 23, the nuts S1 to S3 are attached to the tips of the guide pins T1 to T3, so that the guide base 13 is placed in the accommodating portion 21A. Can be placed.

Hereinafter, the configuration of the hub 10 provided with the linear rotation conversion unit 8 will be described more specifically.
12 is a perspective view showing an example of arrangement of the lift spacer in the case of FIG. 8, and FIG. 13 is a perspective view showing an example of arrangement of the linear moving object, the rack and pinion, and the lift spacer in the case of FIG. 14 (a) is a perspective view showing the configuration of the lift spacer of FIG. 12, FIG. 14 (b) is a front view showing the configuration of the lift spacer of FIG. 14 (a), and FIG. 14 (c) is FIG. 14 (c). A) is a plan view showing the structure of the lift spacer, FIG. 14 (d) is a bottom view showing the structure of the lift spacer of FIG. 14 (a), and FIG. 15 is a fitting of the inner lid and the outer lid of FIG. It is a perspective view which shows by disassembling the method.

In FIGS. 8, 12 and 13, the case 21 includes a housing portion 21A, hollow portions Q1 to Q3, openings 21B, 21C, and K1 to K3. The extension 9 includes a step 9B.
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 lift guide 19. The opening 21C allows the linear motion transmission shaft 7D to be inserted into the linear motion element 11 in the case 21. The opening 21C is located on the top surface 21D of the case 21. An extension 9 can be attached to the top surface 21D of the case 21.

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 lift guide 19. However, the tips of the guide pins T1 to T3 can protrude from the accommodating portion 21A. 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 guide 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.

Each of the openings K1 to K3 allows the support shafts M1 to M3 to be inserted into the case 21. The openings K1 to K3 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, via openings 21B.

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.

The step 9B projects in the axial direction of the rotation axis S0 on the inner peripheral surface side of the extension 9. Then, as shown in FIG. 12, the step 9B is inserted into the opening 21C. Then, as shown in FIG. 8, the bolts W1 to W3 inserted in the accommodating portion 21A are passed through the extension 9 and screwed to the mounting portion 4A of FIG. 3, as shown in FIG. 5 (b). The case 21 and the extension 9 are fixed to the rotor shaft 4. As shown in FIG. 8, through holes 21E and 9C can be provided on the facing surfaces of the case 21 and the extension 9, for example, corresponding to the insertion positions of the bolts W2. Further, as shown in FIG. 3, a female screw 4C can be provided on the mounting surface of the mounting portion 4A corresponding to the insertion position of the bolt W2. Then, the bolt W2 can be screwed into the female screw 4C of FIG. 3 from the top surface 21D side of the accommodating portion 21A of FIG. 12 through the through holes 21E and 9C of FIG. At this time, the case 21 and the extension 9 can be fixed to the rotor shaft 4 with the bolts W1 to W3 housed in the case 21 or the extension 9, and the bolts W1 to W3 are exposed to the outside of the thrust generator 1. Can be prevented.

The lift spacers N1 to N3 are arranged in each corner portion of the accommodating portion 21A in a state of being in contact with the respective surfaces Z1 to Z3 of the linear moving body 11. Further, as shown in FIG. 16, the lift spacer N1 contacts the rack A3 and applies a preload to the rack A3. The lift spacer N2 contacts the rack A1 and applies a preload to the rack A1. The lift spacer N3 contacts the rack A2 and applies a preload to the rack A2. Further, the lift spacers N1 to N3 come into contact with the inner surface of each corner of the accommodating portion 21A and are supported by the inner surface of each corner of the accommodating portion 21A.

Here, for example, the lift spacer N2 includes contact surfaces NA to NC, a notch NF, and an escape hole NG, as shown in FIGS. 14 (a) to 14 (d). The lift spacers N1 and N3 can also be configured in the same manner as the lift spacers N2.

The contact surface NA of the lift spacer N2 comes into contact with the surface Z2 of the linear moving body 11. The contact surface NB contacts the rack A1. The contact surface NC contacts the inner surface of the corner of the accommodating portion 21A. The notch NF is provided on the contact surface NC so as to be parallel to the contact surface NB. The notch NF can buffer the force applied to the contact surface NB. The escape hole NG receives the bolt W2 on the top surface NE side of the lift spacer N2.

Then, when the linear moving body 11 moves linearly, there is a backlash at the time of meshing of the gears of the racks A1 to A3 and the pinions B1 to B3, and the space between the racks A1 to A3 and the pinions B1 to B3 is shown in FIG. Separation forces SF1 to SF3 shown in are generated. At this time, the rotation of the linear moving body 11 caused by the separation forces SF1 to SF3 is received by the contact surface NA of the lift spacers N1 to N3, the rotation of the racks A1 to A3 is received by the contact surface NB, and the lift spacers N1 to N3 are received. Rotation can be received by the inner surface of the accommodating portion 21A. Therefore, even when backlash occurs when the gears of the racks A1 to A3 and the gears of the pinions B1 to B3 are engaged, the rotation of the linear moving body 11 can be suppressed, and the variable accuracy of the pitch angles θ1 to θ3 is lowered. Can be suppressed.

Further, by providing the notch NF in each of the lift spacers N1 to N3, the separation forces SF1 to SF3 generated when the gears of the racks A1 to A3 and the pinions B1 to B3 are engaged are utilized in the racks A1 to A3. Preload can be applied, and backlash at the time of meshing of the gears of the racks A1 to A3 and the pinions B1 to B3 can be reduced.

Further, as shown in FIG. 8, the bolt W2 is screwed into the female screw 4C of FIG. 3 from the top surface 21D side of the accommodating portion 21A through the through holes 21E and 9C. Then, as shown in FIG. 12, the lift spacer N2 is arranged on the top surface 21D in the accommodating portion 21A so that the head of the bolt W2 fits in the escape hole NG. Then, as shown in FIG. 13, with the linear moving elements 11, racks A1 to A3, pinions B1 to B3, and lift spacers N1 to N3 arranged in the accommodating portion 21A, as shown in FIG. 5 (b). The inner lid 23 is attached to the case 21 so as to close the opening 21B of FIG. 13, and the outer lid 22 is attached to the inner lid 23.

Here, as shown in FIG. 15, the inner lid 23 includes a groove 23B, a convex portion 23C, a through hole 23D, and a cylindrical portion 23E. The outer lid 22 includes a claw 22B and a recess 22C. The cylindrical portion 23E projects in the mounting direction of the outer lid 22. The groove 23B is provided on the outer peripheral surface of the cylindrical portion 23E in the circumferential direction. The groove 23B can be fitted with the claw 22B. The convex portion 23C extends radially from the cylindrical portion 23E. The convex portion 23C can be fitted with the concave portion 22C. Screw J7 can be inserted into the through hole 23D.

Then, with the screw J7 inserted into the through hole 23D, the screw J7 is screwed into the case 21 to fix the inner lid 23 to the case 21. At this time, the upper surfaces of the lift spacers N1 to N3 are pressed by the inner lid 23. Further, the bolts W1 to W3 are pressed by the bottom surfaces of the lift spacers N1 to N3. Therefore, by fixing the inner lid 23 to the case 21, it is possible to prevent the bolts W1 to W3 from falling off, and it is possible to prevent the case 21 and the extension 9 from falling off from the rotor shaft 4.

Further, the claw 22B is fitted into the groove 23B, and the convex portion 23C is fitted into the concave portion 22C, whereby the outer lid 22 is fixed to the inner lid 23. At this time, the screw J7 is pressed by the outer edge portion 22D of the outer lid 22. Therefore, it is possible to prevent the screw J7 from falling off while fixing the outer lid 22 to the inner lid 23 by a method that does not use friction, and it is possible to prevent the inner lid 23 from falling off from the case 21. As a result, the hub 10 that supports the rotor blades H1 to H3 can be mounted while relying on the Aviation Law.

FIG. 16 is a top view showing the positional relationship between the pinion and the linear moving body to which the rack of FIG. 10D is attached.
In FIG. 16, 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, the racks A1 to A3 are supported on the surfaces Z1 to Z3 at positions where they mesh with the pinions B1 to B3.

Here, by arranging the support shafts M1 to M3 in the directions JD1 to JD3 perpendicular to the respective surfaces Z1 to Z3 of the linearly moving body 11, the respective surfaces Z1 to Z3 of the linearly moving body 11 performing linear motion and the rotational motion. Each pinion B1 to B3 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. The pitch angles of the three rotary blades H1 to H3 can be made variable while making the linear motion rotation conversion unit 8 compact.

Further, the lift spacers N1 to N3 can be arranged adjacent to the pinions B1 to B3 so as to be in contact with the surfaces Z1 to Z3. Here, the racks A1 to A are provided at positions that are rotationally symmetric three times around the axis of the rotation axis S0. Each pinion B1 to B3 is provided at a position that is rotationally symmetric three times around the axis of rotation axis S0. The lift spacers N1 to N3 are provided at positions that are rotationally symmetric three times around the axis of the rotation axis S0.

This makes it possible to arrange the racks A1 to A so as to mesh with the pinions B1 to B3 while arranging the pinions B1 to B3 facing each surface Z1 to Z3 of the linear moving body 11. The lift spacers N1 to N3 can be arranged so as to be adjacent to B1 to B3. Therefore, each lift spacer N1 to N3 can be arranged while effectively utilizing the empty space on the side of each pinion B1 to B3, and the rack and pinion can be made compact while reducing the size of the linear rotation conversion unit 8. It is possible to suppress the rotation of the linear moving body 11 due to the backlash when the gears are engaged.

17 (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. 17 (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.

In FIGS. 17 (a) and 17 (b), the racks A1 to A3 move linearly together with the linear moving body 11 in accordance with the linear motion LM of the linear motion transmission shaft 7D of FIG. 8 (a). At this time, the linear motion LM of the linear motion body 11 is guided by the guide pins T1 to T3, and the movement range of the linear motion LM of the linear motion body 11 is limited by the guide 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. 17 (a), the pitch angles θ1 to θ3 of the rotary blades H1 to H3 are set as shown in FIG. 1 (b), and the linear moving body 11 is set to FIG. 17 ( When it is in the position b), the pitch angles θ1 to θ3 of each rotor blade H1 to H3 are set as shown in FIG. 1 (c).

In the above embodiment, lift spacers N1 to N3 are taken as an example as an urging member that generates a pressing force in a direction in which the racks A1 to A3 are pressed against the pinions A1 to A3. The urging member is not necessarily limited to the lift spacers N1 to N3, and may be, for example, a leaf spring capable of pressing the racks A1 to A3 against the pinions A1 to A3. Further, the urging member may be arranged between the racks A1 to A3 and the case 21, or between the racks A1 to A3 and the linear moving body 11.

Further, in the above embodiment, the rotary blades H1 to H3 are arranged directly under the thrust generator 1, and the thrust generator 1 is mounted on the lower part of the airframe of the projectile, but the rotary blades H1 to H3 are. It is arranged directly above the thrust generator 1, and the thrust generator 1 may be mounted on the upper part of the airframe of the projectile.

1 Thrust generator, H1 to H3 rotary blades, P1 to P3 grips, 2 Thrust generator motors, 2A stators, 2B rotors, 3A, 3B hollow parts, 4 rotor shafts, 5 pitch variable motors, 6 rotation transmission parts, 7 Rotational linear motion converter, 8 linear motion rotary converter, 9 extension

Claims (9)

The first motor that generates the thrust of the rotor and
A second motor that generates a rotational motion that changes the pitch angle of the rotor blades,
The first conversion unit that converts the rotational motion of the second motor into linear motion,
It is provided with a second conversion unit that converts a linear motion converted by the first conversion unit into a rotary motion.
The second conversion unit is
A linear motion body capable of linear motion according to the linear motion converted by the first conversion unit, and
A rack and pinion that converts linear motion converted by the first conversion unit into rotational motion, and
A case for accommodating the linear moving body and the rack and pinion, and
It is provided with an urging member that generates a pressing force in the direction of pressing the rack and pinion rack against the pinion.
A thrust generator characterized in that the rack is supported by the linear moving body, and the pinion is supported by the support shaft side of the rotary blade. The first aspect of the present invention, wherein the urging member is a spacer provided in a gap between the case and the linear moving body and capable of contacting the linear moving body while being housed in the case. Thrust generator. The spacer is
The first contact surface in contact with the linear moving body and
The second contact surface in contact with the rack and
The thrust generator according to claim 2, further comprising a third contact surface that comes into contact with the inner surface of the case. The thrust generator according to claim 3, wherein the spacer is provided with a notch provided in the third contact surface so as to be parallel to the second contact surface. The case is attached to the rotor side of the first motor by a bolt inserted in the case.
The thrust generator according to claim 4, wherein the spacer is provided with a relief hole for receiving the bolt on the bottom surface side of the spacer. The case comprises an opening through which the linear moving body and the rack and pinion can be inserted into the case.
The thrust generator according to claim 5, wherein when the inner lid closing the opening is fixed to the case, the bolt is pressed by the spacer at the position of the relief hole. With the screws that secure the inner lid to the case,
It is provided with an outer lid that presses the screw against the inner lid.
The thrust generator according to claim 6, wherein the inner lid and the outer lid can be fitted to each other. The linear moving body has N faces corresponding to each of N (N is an integer of 2 or more) rotor blades.
The rack and pinion comprises N racks and N pinions corresponding to each of the N rotors.
The spacer comprises N spacers that can each contact the N surfaces.
The N racks are supported by the N surfaces, respectively.
The thrust generator according to any one of claims 2 to 7, wherein each of the N pinions is supported on the support shaft side of the N rotor blades. The N faces are provided at positions that are rotationally symmetric N times around the axis of the rotation axis of the first motor.
The N racks are provided at positions that are rotationally symmetric N times around the axis of rotation of the first motor.
The N pinions are provided at positions that are rotationally symmetric N times around the axis of rotation of the first motor.
The thrust generator according to claim 8, wherein the N spacers are provided at positions that are rotationally symmetric N times around the axis of the rotation axis of the first motor.

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