JP6989173B2 - Manned aircraft - Google Patents

Description

The present invention relates to a manned aircraft.

In recent years, radio-controlled drones have come to be used for aerial photography, verification of dangerous places, and transportation of lightweight objects.

Manned aircraft that allow people to board such drones are also being developed. For example, Patent Document 1 discloses a manned aircraft having four main rotors having three wings and capable of boarding a person.

Japanese Unexamined Patent Publication No. 2019-031288

By the way, in order to operate as a drone-type manned aircraft, it must be "used for aviation" as stipulated in the Aviation Law. The Aviation Law stipulates that the requirements for an aircraft include ensuring maneuvering in the event of loss of power during flight and ensuring the safety of passengers, and in order to meet these requirements, autorotation descent Must be feasible.

In the technique disclosed in Patent Document 1 described above, there is a problem that autorotation descent cannot be performed because the three blades have a fixed pitch and the wing area is small.

It is an object of the present invention to provide a manned aircraft capable of autorotation descent.

In order to solve the above problems, the present invention divides a prime mover that outputs a rotational force and the rotational force output from the prime mover into 4 or more in a manned aircraft having 4 or more rotors having a pitch adjustment mechanism. A branch portion for transmitting the rotational force to each of the rotors is arranged between the prime mover and the branch portion, and when the rotational force is not supplied from the prime mover, the branch portion is separated from the prime mover and 4 The disconnection mechanism that rotates the rotor at the same angular speed, the control unit that controls the flight posture by controlling the pitch adjustment mechanism in response to an instruction from the operator, and the branch unit are connected to the branch unit. It has a motor that supplies the rotational force to the rotor for a certain period of time when the rotational force is not supplied from the prime mover , and the control unit adjusts the pitch of the rotor when a failure occurs in the power system. By controlling the mechanism, the autorotation descent is executed, and after the branch portion is separated from the prime mover, the motor is automatically started to accelerate the rotor by the motor, and the autorotation descent is executed. characterized in that it.
With such a configuration, it is possible to provide a manned aircraft capable of autorotation descent. Further, according to such a configuration, it is possible to prevent the rotation speed of the rotor from decreasing immediately after the prime mover is stopped and the autorotation descent from becoming impossible.

Further, according to the present invention, the control unit automatically starts the motor when the pitch angle of the rotor is made negative, accelerates the rotor by the motor, and executes the autorotation descent. It is a feature .

Further, in the present invention, the rotor has at least two blades, and the pitch adjusting mechanism has a drive shaft for rotating the rotor and the blades are orthogonal to the drive shaft and are rotatable. It is characterized by having a hub attached to the drive shaft and a yoke portion for adjusting the pitch of the blade by moving in the axial direction of the drive shaft.
With such a configuration, it becomes possible to adjust the pitch angle of the blades of the rotor.

Further, in the present invention, the rotor has three or more blades, each blade has a pinion gear, and the pitch adjusting mechanism is the drive shaft for rotating the rotor and the drive shaft. A hub in which the blades are orthogonal to each other and rotatably attached, and a rack gear that rotates in the circumferential direction of the drive shaft and rotates the pinion gear of the blade to adjust the pitch of the blade. It is characterized by having.
According to such a configuration, even when the number of blades is large, the pitch angle of the blades of the rotor can be easily adjusted.

Further, in the present invention, the rotor has three or more blades, each blade has a pinion gear, and the pitch adjusting mechanism is the drive shaft for rotating the rotor and the drive shaft. The blades are orthogonal to each other, and have a hub that is rotatably attached, and a head that rotates in the circumferential direction of the drive shaft and rotates the hinge of the blade to adjust the pitch of the blade. It is characterized by that.
According to such a configuration, even when the number of blades is large, the pitch angle of the blades of the rotor can be easily adjusted.

The present invention is also characterized in that the motor temporarily operates at the start of the autorotation descent .

Further, the present invention has four rotors, and four constant velocity bevel gears are arranged to face each other in the branch portion, and four rotational forces from the prime mover are branched and transmitted to the rotor. It is characterized by doing.
With such a configuration, power can be reliably transmitted to the four rotors.

Further, the present invention has four rotors, and the branch portion is arranged so that four spur gears are adjacent to each other so as to rotate in opposite directions, and the rotational force from the prime mover is at least one. It is characterized in that it is transmitted to the spur gear and the rotational forces of the four spur gears are branched and transmitted to the rotor.
With such a configuration, power can be reliably transmitted to the four rotors.

Further, the present invention is characterized in that the number of the rotors is an even number of 4 or more.
According to such a configuration, it is possible to control the airframe by canceling the anti-torque and controlling the pitch.

Further, the present invention is characterized in that the center of gravity of the manned aircraft is located below the rotor in the vertical direction and horizontally ahead of the center positions of four or more rotors. ..
According to such a configuration, the stability of the airframe can be improved during the autorotation descent.

According to the present invention, it is possible to provide a manned aircraft capable of autorotation descent.

It is a perspective view which shows the structural example of the manned aircraft which concerns on embodiment of this invention. It is a figure which shows the structural example of the power system and the control system of the manned aircraft shown in FIG. It is a figure which shows the structural example of the branch part shown in FIG. It is a figure which shows the structural example of the pitch adjustment mechanism shown in FIG. It is a figure which shows the structural example of the pitch adjustment mechanism shown in FIG. It is a figure which shows the configuration example of the hinge operation type variable pitch rotor. It is a figure which shows the configuration example of the hinge operation type variable pitch rotor. It is a figure which shows the other structural example of the branch part shown in FIG. It is a figure which shows the detailed configuration example shown in FIG.

Next, an embodiment of the present invention will be described.

(A) Explanation of the configuration of the embodiment of the present invention FIG. 1 is a diagram showing a configuration example of the appearance of a drone-type manned aircraft according to the embodiment of the present invention. As shown in FIG. 1, the manned aircraft 10 according to the present embodiment has a main body portion 1, four rotors 31 to 34, a landing gear portion 3, and a tire 4 on which a person can board.

Here, in the main body 1, a space on which a person can board is formed in the front, and a mechanism storage portion in which a prime mover, a control unit, etc., which will be described later can be accommodated, is formed in the rear.

Four rotors 31 to 34 are arranged on the upper part of the main body 1. The rotor 31 is arranged on the left front, the rotor 32 is arranged on the left rear, the rotor 33 (not shown in FIG. 1) is arranged on the right rear, and the rotor 34 is arranged on the right front. Each of the rotors 31 to 34 has 16 blades as described later, and these blades have adjustable pitch angles. Further, when the manned aircraft 10 is viewed from the front, the blades of the rotor 31 and the blades of the rotor 34 are arranged so as to have an inclination so as to have a C-shape or an inverted C-shape. Similarly, the blades of the rotor 32 and the blades of the rotor 33 are arranged so as to have an inclination so as to have a C-shape or an inverted C-shape when the manned aircraft 10 is viewed from the front.

The landing gear (skid) 3 has a function of touching the ground and supporting the manned aircraft 10 so that it does not tilt. Further, one tire 4 is provided in the front and two tires 4 are provided in the rear. For example, when a manned aircraft 10 descends by autorotation and lands in a state where the manned aircraft 10 has a forward speed, the tire 4 rotates to slide the aircraft and suppress an impact due to a sudden stop.

Although not explicitly shown in FIG. 1, the center of gravity of the manned aircraft 10 is located below the center of rotation of the rotors 31 to 34 in the vertical direction and horizontally ahead of the center position of the rotors 31 to 34. is doing. With such an arrangement of the center of gravity, the stability at the time of autorotation descent can be improved.

FIG. 2 is a diagram for explaining an example of a power system and a control system of the manned aircraft 10 shown in FIG. As shown in FIG. 2, the manned aircraft 10 includes a prime mover 11, a disconnection unit 12, a motor 13, a branch unit 14, a control unit 15, pitch adjusting mechanisms 21 to 24, and rotors 31 to 34.

Here, the prime mover 11 is composed of, for example, a reciprocating engine, a gas turbine, or a motor. The prime mover 11 rotates at a rotation speed according to the control of the control unit 15, generates a rotational force, and outputs the rotational force.

The disconnection unit 12 is controlled by the control unit 15 and transmits the rotational force output from the prime mover 11 to the branch portion 14, and at the time of autorotation execution, the connection between the prime mover 11 and the branch portion 14 is disconnected, and the rotors 31 to 34 Allows to rotate freely. The disconnection portion 12 can be configured by, for example, a meshing clutch, a friction clutch, a centrifugal clutch, or the like.

The motor 13 is controlled by the control unit 15 and temporarily operates at the start of the autorotation descent, and transmits the rotational force to the branch unit 14 to increase the rotation speed of the rotors 31 to 34. Power is supplied to the motor 13 from a storage battery (not shown).

The branch portion 14 branches the rotational force output from the disconnection portion 12 into four and supplies the rotational force to the pitch adjusting mechanisms 21 to 24.

The pitch adjusting mechanisms 21 to 24 are controlled by the control unit 15, and by adjusting the respective pitches of the rotors 31 to 34, it is possible to move, rotate, or the like in a desired direction.

The rotors 31 to 34 are composed of 16 blades as described later, are rotated by the rotational force supplied from the branch portion 14, and the pitch angle of the blades can be adjusted by the pitch adjusting mechanisms 21 to 24. There is. When viewed from above, the rotors 31 and 33 rotate clockwise, and the rotors 32 and 34 rotate counterclockwise. Of course, such a rotation direction is an example, and the rotation may be made in other directions.

FIG. 3 is a diagram showing a configuration example of the branch portion 14 shown in FIG. As shown in FIG. 3, the branch portion 14 has four input shafts 140 parallel to the depth direction of the paper surface and four output shafts 143 arranged parallel to the paper surface. That is, in the example of FIG. 3, the rotational force is input from the input shaft 140 existing on the back side of the paper surface, and the rotational force is output to the output shaft 143 arranged radially on the front side of the paper surface. Depending on the configuration of the machine, the input shaft 140 may be set as the output shaft and the output shaft 143 may be set as the input shaft. One of the four input shafts 140 is connected to the disconnection portion 12, and at least one of the remaining three input shafts is connected to the motor 13. An umbrella-shaped gear 141 is connected to the input shaft 140, and an umbrella-shaped gear 142 is also connected to the output shaft 143. The gear ratio between the gear 141 and the gear 142 is 1: 1. When any of the input shafts 140 is rotated, the gears 142 rotate in the directions indicated by the arrows in FIG.

The four output shafts 143 are connected to the rotors 31 to 34 via the pitch adjusting mechanisms 21 to 24. By branching the rotational force by such a branch portion 14 and supplying it to the rotors 31 to 34, the rotors 31 to 34 shown in FIG. 1 rotate at the same rotation speed, and the rotors 31 to 34 are diagonally A set of rotors arranged rotates in the same direction.

4 and 5 are views showing a configuration example of the pitch adjusting mechanisms 21 to 24. Since the pitch adjusting mechanisms 21 to 24 have the same configuration, they will be described below as the pitch adjusting mechanism 20.

As shown in FIG. 4, the pitch adjusting mechanism 20 includes a rotary shaft 201, gears 202, 203, L-shaped link 204, pitch control shaft 205, shaft end portions 206, 207, rotor shaft 208, bearings 209, 210, and rotor head. It has a 211, a gear 212, a gear 220, and a blade shaft 221.

Here, the rotation shaft 201 is connected to any of the four output shafts 143 of FIG. The gear 202 transmits the rotational force transmitted from the rotary shaft 201 to the gear 203. The gear 203 transmits the rotational force from the gear 202 to the rotor shaft 208. Bearings 209, 210 rotatably support the rotor shaft 208. Since the upper end of the rotor shaft 208 is connected to the rotor head 211, when the rotor shaft 208 is rotated, the rotor head 211 is rotated.

As shown in FIG. 5, 16 blade shafts 221 are arranged radially at equal intervals on the rotor head 211. The blade shaft 221 rotates in accordance with the rotor head 211. A blade (not shown) is attached to the tip of the blade shaft 221, and the blade is rotated when the rotor head 211 is rotated. The gear 220 attached to the tip of the blade shaft 221 is in contact with the ring-shaped gear 212 and rotates independently of each other. Therefore, when the gear 212 is rotated, the gear 220 is rotated.

The L-shaped link 204 converts a force transmitted in the left-right direction (direction of an arrow) transmitted from a servo (not shown) into a force in the vertical direction and transmits the force to the shaft end portion 206. As a result, the pitch control shaft 205 moves in the vertical direction. The pitch control shaft 205 is arranged in the rotor shaft 208 and rotates together with the rotor shaft 208.

When the pitch control shaft 205 moves in the vertical direction, the vertical movement is converted into a rotational movement by the pinion formed at the shaft end portion 207 and the oblique tooth rack formed at the portion where the shaft end portion 207 of the gear 212 abuts. And the gear 212 is rotated. When the gear 212 is rotated, a rotational force is transmitted to each of the 16 gears 220 that are in contact with the gear 212, whereby the pitch angles (collective pitch angles) of the 16 blades are adjusted. That is, in the present embodiment, the collective pitch angle of the blade is adjusted by the rack and pinion type adjusting mechanism. As an example, the diameter of the rotor is 2.5 m, the diameter of the rotor head 211 is 50 cm, and the length of the blade is 1 m. Of course, other dimensions may be set.

(B) Explanation of the operation of the embodiment of the present invention Next, the operation of the embodiment of the present invention will be described. In the following, after explaining the normal flight operation, the autorotation operation will be described.

First, normal flight operation will be described. When the operator gets on the main body 1 and performs an operation to start the motor 11, the motor 11 starts to rotate. At this time, the separated portion 12 is left in a separated state.

When the operator releases the disconnection of the disconnection portion 12, the rotational force of the prime mover 11 is supplied to the branch portion 14. Since the output shaft of the disconnection portion 12 is connected to any of the four input shafts 140 constituting the branch portion 14, the rotational force supplied from the disconnection portion 12 is transmitted to the four gears 142 via the gear 141. The four output shafts 143 rotate at the same rotation speed in the directions indicated by the arrows in FIG.

The rotational force of the four output shafts 143 is transmitted to the rotating shafts 201 constituting each of the pitch adjusting mechanisms 21 to 24. The rotational force of the rotary shaft 201 is transmitted to the rotor shaft 208 via the gears 202 and 203. The rotational force of the rotor shaft 208 is transmitted to the rotor head 211. As a result, since the rotor head 211 is rotated, the 16 blade shafts 221 fixed to the rotor head 211 are rotated, and the blades are rotated.

At this time, when the operator operates the control stick to prevent the manned aircraft 10 from ascending, the movement of the control stick is transmitted via the L-shaped link 204, and the pitch control shaft 205 is moved in the vertical direction. Yoke. The vertical movement of the pitch control shaft 205 is converted into the rotational movement of the gear 212. The rotational motion of the gear 212 is transmitted to the blade shaft 221 via the gear 220. As a result, since the pitch angle of the blade is set to, for example, 0 degrees or less, lift by the rotors 31 to 34 does not occur. When the rotation of the prime mover 11 becomes stable, the rotation shaft 201 rotates at a constant speed, for example, at a predetermined rotation speed of 600 [rpm] or less. Note that 600 [rpm] is merely an example, and the present invention is not limited to such a rotation speed.

Next, when the operator performs an operation for ascending to the control stick, the operation of the control stick is transmitted to the control unit 15. The control unit 15 calculates the control amount of the pitch angle of the rotors 31 to 34 based on the operation of the control stick, and drives the L-shaped link 204 in the left-right direction by driving a servo (not shown). As a result, the pitch control shaft 205 moves up and down, and this vertical movement is converted into the rotational movement of the gear 212, and the gear 220 is rotated. As a result, the pitch angle of the blades is increased, so that the rotors 31 to 34 generate lift, and when the lift exceeds the weight of the airframe including the operator, the rotors take off. As described above, the rotors 31, 33 and the rotors 32, 34 rotate in the same direction, and the rotors 31, 32 and the rotors 33, 34 rotate in the opposite directions. The torque is canceled out, and the aircraft becomes stationary without rotation in the yaw axis direction.

At this time, the control unit 15 refers to the output from the gyro sensor (not shown) and controls the machine body so that it does not rotate about the yaw axis, the pitch axis, and the roll axis. The control method will be described later.

When the operator performs an ascending operation on the control stick, the lift is increased by increasing all the collective pitch angles of the rotors 31 to 34, and the airframe is raised.

Further, when the machine body is advanced, the control unit 15 controls so that the pitch angle of the rotors 32 and 33 is larger than the pitch angle of the rotors 31 and 34. When the machine body is retracted, the control unit 15 controls so that the pitch angle of the rotors 31 and 34 is larger than the pitch angle of the rotors 32 and 33. When moving the machine to the left, the control unit 15 controls so that the pitch angle of the rotors 33 and 34 is larger than the pitch angle of the rotors 31 and 32. When moving the machine to the right, the control unit 15 controls so that the pitch angle of the rotors 31 and 32 is larger than the pitch angle of the rotors 33 and 34. When the machine body is turned clockwise, the control unit 15 controls so that the pitch angle of the rotors 32 and 34 rotating counterclockwise is larger than the pitch angle of the rotors 31 and 33. When the machine body is turned counterclockwise, the control unit 15 controls so that the pitch angle of the rotors 31 and 33 rotating clockwise is larger than the pitch angle of the rotors 32 and 34.

With the above control, the control unit 15 controls the pitch adjusting mechanisms 21 to 24 to adjust the pitch angles of the rotors 31 to 34 in a desired direction according to the operation of the control stick by the operator. You can move and turn.

In such a state, for example, it is assumed that a malfunction occurs in the prime mover 11 or the like. In that case, the rotors 31 to 34 cannot be rotationally driven, so that the flight cannot be continued. In such a case, the operator performs the autorotation descent by the following procedure.

That is, the operator disconnects the connection between the prime mover 11 and the branch portion 14 by controlling the disconnection portion 12. As a result, the rotors 31 to 34 are separated from the prime mover 11, so that they can rotate freely. Since the rotors 31 to 34 rotate at the same rotation speed even after being separated by the disconnection unit 12, the machine body can be controlled by adjusting the pitch.

Next, the operator operates the control stick to make the pitch angle of the rotors 31 to 34 negative. In addition, the start button (not shown) of the motor 13 is operated. As a result, the control unit 15 supplies electric power to the motor 13 from a storage battery (not shown) to rotate the motor 13. Since the rotating shaft of the motor 13 is connected to any of the four input shafts 140 of the branch portion 14, the rotational force of the motor 13 is transmitted to the rotors 31 to 34 via the pitch adjusting mechanisms 21 to 24. As a result, the rotation speeds of the rotors 31 to 34 increase, and it is possible to reach a desired rotation speed when performing autorotation. The motor 13 may not be started by the start button, but the control unit 15 may be started automatically. That is, it may be automatically activated after a malfunction occurs in the prime mover 11 and it is separated by the disconnection unit 12 or when the pitch is set to a minus pitch.

When the rotation speed of the rotors 31 to 34 reaches a predetermined rotation speed, the operator controls the pitch angle of the rotors 31 to 34 so that the rotation speed does not increase or decrease. More specifically, when the number of revolutions increases, the pitch angle is increased to give resistance, and when the number of revolutions decreases, the pitch angle is decreased to reduce the resistance. Also, operate the control stick so that it descends toward the target point. At this time, it is desirable to descend at a speed at which the minimum sinking speed or the maximum gliding distance can be obtained.

When it is close to the landing site, the pilot, along with it the speed and thus rapid deceleration to nose up operation to have to reduce the forward speed and descent speed simultaneously, increasing the pitch angle, the rotational energy Perform a collective flare to stop the sinking by using up instantly, slow down sufficiently before landing.

The drone-type manned aircraft 10 as in the present embodiment does not have a wing area like a helicopter, has a shallow approach angle by autorotation, and cannot reduce the speed. Therefore, it is considered difficult to land only by the landing gear 3 even after flaring. Therefore, in the present embodiment, two tires 4 are provided at the rear end of the landing gear 3 and one tire 4 is provided at the front. By providing these tires 4, it is possible to reduce the sudden stop after landing and the impact on the operator.

In the present embodiment, assuming the return of the operator and passengers, the dry weight of the airframe when 40 kg of fuel or battery is loaded is considered to exceed about 120 kg. Therefore, the total weight of the operator, passengers, fuel, or battery with respect to the dry weight of the airframe is about 300 kg.

Here, in the present embodiment, each of the four rotors 31 to 34 has 16 blades. Therefore, it is calculated that a load of about 4.7 kg (= 300 kg / 16/4) is applied to one blade. Therefore, the length and area of the blades are set so that the wing loading applied to one blade becomes an optimum value (for example, 10 kg / m ^2). This allows you to descend at a safe speed.

As described above, in the embodiment of the present invention, when the rotors 31 to 34 are arranged at positions orthogonal to the traveling direction, the pair of rotors 31, 34 and the rotors 32, 33 are viewed from the traveling direction. Since the axis of rotation is arranged with an inclination so as to form a C-shape or an inverted C-shape with respect to the horizontal plane, it is possible to suppress unintended slippage of the aircraft in the left-right direction.

Further, in the present embodiment, the number of blades is set to 16. As a result, the drag force against the air flow becomes large, and lift can be obtained even when the air speed is low, so that the rotation speed of the rotors 31 to 34 can be lowered. Further, according to such a configuration, the rotor diameter can be reduced. In addition, the airspeed of the aircraft can be kept low during autorotation descent, enabling safe descent.

Further, in the present embodiment, since the rotation speed of the rotors 31 to 34 is increased by the motor 13 at the start of the autorotation descent, the rotation speed of the rotors 31 to 34 decreases and the autorotation descent becomes impossible. Can be prevented.

Further, in the present embodiment, the pitch angle of the blades is adjusted according to the configuration shown in FIG. 4, so that even when the number of blades is large, it is possible to prevent the configuration from becoming complicated and to perform maintenance. It can be facilitated.

Further, since the configuration shown in FIG. 3 is used for the branch portion 14, power can be reliably transmitted from the input shaft 140 to the output shaft 143.

(C) Explanation of the configuration of another embodiment of the present invention FIGS. 6 and 7 show a configuration example of a hinge-operated variable pitch mechanism. As shown in FIG. 6, it has a hinge-operated variable pitch mechanism 20. In detail, the hinge operation type variable pitch mechanism 20 includes an output shaft 143, a rotary shaft 201, gears 202, 203, an L-shaped link 204, a pitch control shaft 205, a rotor shaft 208, bearings 209, 210, a rotor head 211, and a blade 420. , A blade shaft 421, bearings 422, 423, head 430, nut 431, and hinge 432.

Here, the rotation shaft 201 is connected to any of the four output shafts 143 of FIG. The gear 202 transmits the rotational force transmitted from the rotary shaft 201 to the gear 203. The gear 203 transmits the rotational force from the gear 202 to the rotor shaft 208. Bearings 209, 210 rotatably support the rotor shaft 208. Since the upper end of the rotor shaft 208 is connected to the rotor head 211, when the rotor shaft 208 is rotated, the rotor head 211 is rotated.

As shown in FIG. 7, the blades 420 are arranged radially at equal intervals. The blade shaft 421 rotates in accordance with the rotor head 211. A blade 420 is attached to the tip of the blade shaft 421, and when the rotor head 211 rotates, the blade rotates.

As shown in FIG. 6, the L-shaped link 204 converts the vertical force transmitted from a servo (not shown) in the vertical direction (the direction of the arrow similar to FIG. 4) into the horizontal force, and the pitch control shaft 205 is in the horizontal direction. Move to. The pitch control shaft 205 is arranged in the rotor shaft 208 and rotates together with the rotor shaft 208.

The head 430 is transmitted by the L-shaped link 204 and is moved in the left-right direction. When the head 430 is moved in the left-right direction, the blade 420 is twisted via the hinge 432. The blade shaft 421 is rotated via bearings 422 and 423. That is, when transmitted by the L-shaped link 204, the pitch angle (collective pitch angle) of the blade 420 is converted.

The rotational force is transmitted to each of the 16 blades 420 having a pitch angle, whereby the pitch angles (collective pitch angles) of the 16 blades are adjusted. That is, in the present embodiment, the collective pitch angle of the blade is adjusted by the rack and pinion type adjusting mechanism. As an example, the rotor diameter is 3,000 mm, the head diameter is 600 mm, the blade width is 250 mm, and the blade length is 1,000 mm. Of course, other dimensions may be set.

(D) Explanation of Configuration of Still Other Embodiments of the Present FIG. 8 and FIG. 9 are diagrams showing another configuration example of the branch portion 14 shown in FIG. As shown in FIG. 8, the branch portion 14A has four input shafts 140 parallel to the depth direction of the paper surface and four output shafts 143 arranged parallel to the paper surface. That is, in the example of FIG. 8, the rotational force is input from the input shaft 140 existing on the back side of the paper surface, and the rotational force is output to the output shaft 143 arranged radially on the front side of the paper surface. Depending on the configuration of the machine, the input shaft 140 may be set as the output shaft and the output shaft 143 may be set as the input shaft.

As shown in FIGS. 8 and 9, four spur gears (spur gears) 145 are arranged adjacent to each other. One of the four input shafts 140 is connected to the disconnection portion 12, and at least one of the remaining three input shafts is connected to the motor 13. As a result, each of the four flat gears 145 is rotated in the reverse rotation direction.

When the four gears 145 are rotated, an umbrella-shaped gear 146 having the same rotational force is transmitted. The four gears 145 and 146 are rotated in the same direction as the arrows in FIG.

The four umbrella-shaped gears 147 have the same shape as the gears 146. The four umbrella-shaped gears 147 are arranged radially in parallel with the paper in FIG. 8, and each gear 146 is transmitted to the gear 147. As a result, the gear ratio between the gear 146 and the gear 147 is set to 1: 1. When any of the input shafts 140 is rotated, the gears 147 rotate in the directions indicated by the arrows in FIG.

(E) Description of Modified Embodiments It goes without saying that each of the above embodiments is an example, and the present invention is not limited to the above-mentioned case. For example, in the above embodiment, four rotors 31 to 34 are provided, but a number of rotors other than four may be provided. From the viewpoint of control, it is desirable that the number is an even number of 4 or more.

Further, in the above embodiment, the number of blades is 16, but the number of blades may be other than 16. For example, the number may be 17 or more, or 15 or less. As described above, the number of sheets can be adjusted by the blade surface load applied to the blade.

Further, as the pitch adjusting mechanism 21 to 24, the rack and pinion type adjusting mechanism shown in FIG. 4 is used. For example, the drive shaft for rotating the rotors 31 to 34 and the blade are orthogonal to the drive shaft. Further, it may be a swash plate type adjusting mechanism having a hub that is rotatably attached and a yoke portion that adjusts the pitch of the blade by moving in the axial direction of the drive shaft.

Further, in the above embodiment, three tires 4 are provided, but two or less tires or four or more tires may be provided.

Further, in the above embodiment, the motor 13 is provided, but the motor 13 may be excluded from the configuration when sufficient rotation of the rotor can be obtained at the time of autorotation descent. Further, the motor 13 is provided with the function of a generator, the motor 13 is used to generate electricity by the rotational force supplied from the branch portion 14, the storage battery is charged, and the electric power stored in the storage battery is used when the auto rotation is lowered. You may.

Further, in the above embodiment, the operator executes the autorotation descent, but for example, the control unit 15 assists the autorotation descent that is difficult to maneuver, or the control unit 15 automatically executes the autorotation descent. You may try to do it. When assisting, the pitch angle and approach angle of the blade can be automatically adjusted so that the rotation speed of the rotors 31 to 34 maintains the desired rotation speed. When autorotation is executed fully automatically, the control unit 15 detects the current position of the aircraft in the GPS (Global Positioning System) and identifies the landable point centered on the current position from the map information. Then, while descending toward the landable point, the pitch angle and approach angle of the blades are automatically adjusted so that the rotation speeds of the rotors 31 to 34 maintain the desired rotation speeds. Immediately before landing, the flare operation reduces the forward speed and descent speed at the same time, increases the pitch angle, and performs collective flare to stop the subsidence by instantly using up the rotational energy to land safely. You may do it.

1 Main body 3 Landing leg 4 Tire 10 Manned aircraft 11 Motor 12 Detachment 13 Motor 14 Branch 14A Branch 15 Control 21-24 Pitch adjustment mechanism 31-344 Rotor 140 Input shaft 141, 142 Gear 143 Output shaft 145 5, 145, 146 Gear 201 Rotating shaft 202, 203 Gear 204 L-shaped link 205 Pitch control shaft 206, 207 Shaft end 208 Rotor shaft 209,210 Bearing 211 Rotor head 212 Gear 220 Gear 221 Blade shaft 420 Blade 421 Blade shaft 423,423 Bearing 431 nut 432 hinge

Claims (10)

In a manned aircraft with 4 or more rotors with a pitch adjustment mechanism
A prime mover that outputs rotational force and
A branching portion that branches the rotational force output from the prime mover and transmits the rotational force to each of the four or more rotors.
A disconnection mechanism arranged between the prime mover and the branch portion, which disconnects the branch portion from the prime mover and rotates four or more rotors at the same angular velocity when the rotational force is not supplied from the prime mover.
A control unit that controls the flight attitude by controlling the pitch adjustment mechanism in response to instructions from the operator.
It has a motor that is connected to the branch portion and supplies the rotational force to the rotor for a certain period of time when the rotational force is not supplied from the prime mover .
When a failure occurs in the power system, the control unit controls the pitch adjustment mechanism of the rotor to execute an autorotation descent , and automatically after the branch unit is disconnected from the motor. To start the motor, accelerate the rotor by the motor, and perform the autorotation descent.
Manned aircraft featuring. Claim 1 is characterized in that the control unit automatically starts the motor when the pitch angle of the rotor is made negative, accelerates the rotor by the motor, and executes the autorotation descent. Manned aircraft listed in. The manned aircraft according to claim 1, wherein the motor temporarily operates at the start of the autorotation descent. The rotor has at least two blades and has
The pitch adjustment mechanism is
The drive shaft that rotates the rotor and
A hub in which the blade is orthogonal to the drive shaft and is rotatably attached.
It has a yoke portion that adjusts the pitch of the blade by moving in the axial direction of the drive shaft.
The manned aircraft according to any one of claims 1 to 3, wherein the aircraft is characterized by the above. The rotor has three or more blades, and each blade has a pinion gear.
The pitch adjustment mechanism is
The drive shaft that rotates the rotor and
A hub in which the blade is orthogonal to the drive shaft and is rotatably attached.
It has a rack gear that rotates in the circumferential direction of the drive shaft and rotates the pinion gear of the blade to adjust the pitch of the blade.
The manned aircraft according to any one of claims 1 to 3, wherein the aircraft is characterized by the above. The rotor has three or more blades, and each blade has a pinion gear.
The pitch adjustment mechanism is
The drive shaft that rotates the rotor and
A hub in which the blade is orthogonal to the drive shaft and is rotatably attached.
It has a head that rotates in the circumferential direction of the drive shaft and rotates the hinge of the blade to adjust the pitch of the blade.
The manned aircraft according to any one of claims 1 to 3, wherein the aircraft is characterized by the above. It has four said rotors
In the branch portion, four constant velocity bevel gears are arranged so as to face each other, and four rotational forces from the prime mover are branched and transmitted to the rotor.
The manned aircraft according to any one of claims 1 to 6, wherein the aircraft is characterized by the above. It has four said rotors
The branch portion is arranged so that four spur gears are adjacent to each other so as to rotate in opposite directions, and the rotational force from the prime mover is transmitted to at least one spur gear of the four spur gears. Four rotational forces are branched and transmitted to the rotor.
The manned aircraft according to any one of claims 1 to 6, wherein the aircraft is characterized by the above. The manned aircraft according to any one of claims 1 to 8 , wherein the number of rotors is an even number of 4 or more. Center of gravity of the manned aircraft, as well as positioned below the vertical direction than the rotor, according to claim 1 to 9, characterized in that located in front horizontal direction than the center position of the four or more of said rotor The manned aircraft described in any one of the items.

Images