JP7240050B2 - rotorcraft - Google Patents

Description

The present invention relates to a rotorcraft having multiple rotor blades.

2. Description of the Related Art In various events such as sports and concerts, or surveys of building facilities such as buildings and condominiums, for example, aerial photography using a rotary wing aircraft called a drone or multicopter is sometimes performed. This type of rotary wing aircraft is being applied not only for aerial photography but also in areas such as cargo transportation. Patent Document 1 discloses a rotorcraft having a plurality of rotor blades, a support section installed vertically downward from the center of the rotorcraft, a mounting section installed at the end of the support section vertically downward, A rotorcraft system for aerial photography, which consists of a mooring rope connected to the bottom of the mounting part, one end of the mooring rope is connected to the vertically lower end of the mounting part, and the other end of the mooring rope is anchored on the ground. disclosed.

JP 2013-79043 A

The rotorcraft 1 floats upward by rotating each rotor blade P at the same number of revolutions (more precisely, the number of revolutions per unit time, the same applies hereinafter) in the posture shown in FIG. 13 . At this time, assuming that the upper limit of the rotation speed level is 10, for example, the rotation speed level at the time of rising is set to 6 (numbers in parentheses in the figure, the same applies hereinafter). When the rotary wing aircraft 1 reaches a desired altitude, it stops in the air (hovering) by reducing the number of revolutions to such an extent that the lift force by each rotary wing P and the gravity applied to the aircraft body are balanced. At this time, the rotation speed level is set to 5, for example. When the rotorcraft 1 moves in the horizontal direction, the rotation speed of the rotor blade P located ahead in the traveling direction is reduced (for example, rotation speed level 3
), and increase the rotation speed of the rotor blade P located behind in the direction of travel (for example, rotation speed level 7)
. As a result, as shown in FIG. 14, the rotary-wing aircraft 1 moves in the direction of the arrow a while maintaining the forward-downward tilted attitude toward the traveling direction. When the fuselage of the rotorcraft 1 is tilted,
For example, since a rotational moment M due to a heavy object G such as a camera is generated around the center of lift U, in order to cancel this rotational moment M and maintain the same attitude, the rotor P that is in front of the traveling direction rotates backward. It is necessary to increase the rotation speed of the blade P.

In Patent Document 1 (especially FIGS. 7 and 8), a joint member R is provided so that a heavy object G can be adjusted to be positioned vertically below the rotorcraft 1 regardless of the attitude of the rotorcraft 1. is disclosed. However, even if such a mechanism is adopted, as shown in FIG. Not a little rotational moment M around U is generated. Therefore, for example, when the rotational speed level of the rotor blade P located forward in the traveling direction is set to 4, the rotor blade P located behind the traveling direction
A slight difference must be provided between the rotation speeds of both rotor blades, such as setting the rotation speed level 6 to .

In this way, when a difference is provided in the number of revolutions of the front and rear rotor blades P in the direction of travel in order for the rotorcraft 1 to travel in the horizontal direction, the rotor blades P in the rear direction of travel may be Since the output of P must be maintained at a high level, various problems are conceivable, such as failure due to heat generation of the motor, for example.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to reduce the difference in the number of rotations of the rotor blades in the forward and rearward directions in the direction of travel when a rotorcraft having a plurality of rotor blades travels in a direction including the horizontal direction. and

According to the present invention, a rotary wing aircraft comprising a flight section, a body section, and a connection section that connects the flight section and the body section so that the flight section and the body section can swing within a predetermined range,
The flight section includes a plurality of rotor blades and an arm portion supporting the plurality of rotor blades,
The main body includes a rod-shaped portion extending in the vertical direction, and a first mounting portion and a second mounting portion provided at the upper end and the lower end of the rod-shaped portion, respectively,
The connection portion includes a first connection portion that allows the main body portion to swing about a horizontal axis orthogonal to the direction of travel, and a first connection portion that is orthogonal to the horizontal axis and has a predetermined angle with the direction of travel when viewed along the horizontal axis. a second connecting portion that allows the support rod to swing about an oblique axis that forms an elevation angle;
A rotorcraft is obtained.

1 is a perspective view showing the configuration of a rotorcraft according to one embodiment of the present invention; FIG. The side view of the rotary wing aircraft which concerns on the same embodiment. The top view of the rotorcraft which concerns on the same embodiment. A conceptual diagram explaining the center of lift force. The side view which shows the attitude|position change of the rotorcraft which concerns on the same embodiment. FIG. 4 is a conceptual diagram explaining the dynamic relationship in the rotary wing aircraft according to the same embodiment; The side view of the rotary wing aircraft which concerns on the modification of this invention. The side view which shows the attitude|position change of the rotorcraft which concerns on the same modification. The perspective view which shows the structure of the rotorcraft based on another modification of this invention. FIG. 11 is a perspective view of a rotorcraft according to still another modification of the present invention; The top view of the rotorcraft which concerns on the same modification. The side view of the rotary wing aircraft which concerns on the same modification. 1 is a side view of a conventional rotorcraft; FIG. FIG. 2 is a side view of a conventional rotorcraft moving horizontally; FIG. 11 is a side view of a conventional rotorcraft having joint members when horizontally moving; Figure 2 shows a rotorcraft according to a second embodiment of the invention; Fig. 3 is another view showing a rotorcraft according to the second embodiment of the invention; FIG. 4 is another view showing a rotorcraft according to the second embodiment of the invention; Fig. 4 is a modified example showing a rotorcraft according to a second embodiment of the present invention;

A rotorcraft according to the present invention comprises the following configuration.
[Configuration 1]
A rotary wing aircraft comprising a flight section, a body section, and a connecting section connecting the flight section and the body section so as to be able to swing within a predetermined range,
The flight section includes a plurality of rotor blades and an arm portion supporting the plurality of rotor blades,
The main body includes a rod-shaped portion extending in the vertical direction, and a first mounting portion and a second mounting portion provided at the upper end and the lower end of the rod-shaped portion, respectively,
The connection portion includes a first connection portion that allows the main body portion to swing about a horizontal axis orthogonal to the direction of travel, and a first connection portion that is orthogonal to the horizontal axis and has a predetermined angle with the direction of travel when viewed along the horizontal axis. a second connecting portion that allows the body portion to swing about an oblique axis forming an elevation angle;
rotorcraft.
[Configuration 1]
The rotorcraft according to Configuration 1,
A rotary wing aircraft, wherein the intersection of the horizontal axis and the oblique axis is substantially at the center position of the lift generated in the fuselage by the rotation of the plurality of rotary wings.
[Configuration 2]
The rotorcraft according to Configuration 1,
A rotary wing aircraft, wherein the intersection of the horizontal axis and the oblique axis is at the center of gravity of the main body.
[Configuration 3]
The rotorcraft according to any one of Configurations 1 to 3,
The position of the first mounting portion is shifted rearward from the main body,
The position of the second mounting portion is shifted forward from the body portion,
rotorcraft.
[Configuration 4]
The rotorcraft according to any one of Configurations 1 to 4,
The flight unit moves in the direction of travel so as to be tilted in the direction of travel, and the elevation angle is an angle at which the oblique axis can be horizontal at least during flight in the direction of travel.
rotorcraft.

(First embodiment)
FIG. 1 is a perspective view showing the configuration of a rotorcraft 10 according to a first embodiment of the present invention, and FIG.
1 is a side view of the rotorcraft 10 viewed from the direction of arrow X in FIG. 1, and FIG. 3 is a plan view of the rotorcraft 10 viewed from the direction of arrow Y in FIG. In this embodiment, a four-rotor type multicopter will be described as an example of a rotorcraft having a plurality of rotor blades.

A central portion 15 of the rotorcraft 10 is provided at the center of the rotorcraft 10 when viewed from above. From the side of the central portion 15, the four arms 14A, 14B, 14C, and 14D are equidistant, that is, the angles formed by the longitudinal directions of adjacent arms are 90 degrees.
It extends in four directions. The arm portions 14A, 14B, 14C and 14D are means for supporting the rotary blade portions 11A, 11B, 11C and 11D, respectively. Arm portion 14A and rotary blade portion 1
1A, the arm portion 14B and the rotary blade portion 11B, the arm portion 14C and the rotary blade portion 11C, and the arm portion 14D and the rotary blade portion 11D have the same configuration.
and the configuration of the rotary blade portion 11A will be described as an example. In addition, in this embodiment, the arm portion 14
A, 14B, 14C, and 14D are curved downwards so as to avoid interference with the rotor blades 12A, 12B, 12C, and 12D, respectively, so as to avoid their movable ranges. If it does not interfere with 12A, 12B, 12C, and 12D, it does not necessarily have to be the shape illustrated in FIG.

A rotary blade portion 11A is attached to the tip portion of the arm portion 14A farther from the central portion 15. As shown in FIG. The rotary blade section 11A includes a rotary blade 12A and a power section 13A. rotor 1
2A is means for converting the output from the power section 13A into the propulsive force of the rotorcraft 10 . Although the rotor blade 12A illustrated in the drawing has two blades, it may have three or more blades. The power unit 13A is power generating means such as an electric motor or an internal combustion engine. In this embodiment, as the power units 13A, 13B, 13C, and 13D, two electric motors (right-handed motor and left-handed motor) rotating in different directions are used.
A and 13C are left-rotating motors, and power units 13B and 13D are right-rotating motors. The power section 13A is fixed to the arm section 14A, and the rotating shaft of the power section 13A is fixed to the rotor blade 12A. As shown in FIG. 3, the rotary shafts of the rotor blades 11A, 11B, 11C, and 11D are arranged at equal intervals on concentric circles around the central portion 15 when viewed from above.

The first mounting unit 25 is means for mounting an object, and includes, for example, a camera 28 for aerial photography, a drive mechanism (not shown) for changing the direction of the camera, and a control unit for controlling the camera 28 and the drive mechanism. It carries an object such as a device (not shown). The control device controls the photographing operation of the camera 28, the pan operation for rotating the camera 28 left and right, the tilt operation for tilting the camera 28 up and down, and the like. Furthermore, in the rotorcraft 10, the power units 13A, 13B, 13
C, 13D, a power source for driving the camera 28 and control device, etc., a receiver for radio control, a level for grasping the attitude of the rotorcraft 10, etc. (all not shown)
are also mounted as necessary, they may be mounted on the first mounting portion 25 or may be mounted in the space provided in the central portion 15 described above. Further, the control device may also be mounted in the space provided in this central portion 15 .

A connecting portion 16 is fixed to the lower surface of the central portion 15 . The connecting portion 16 connects the first mounting portion 25 to the arm portion 14A via the support rod 21 and the central portion 15 so that the first mounting portion 25 can move within a predetermined range with respect to the airframe of the rotorcraft 10. , 14B, 14C, 14D. The connecting portion 16 is, for example, a joint mechanism such as a ball joint, and the first mounting portion 25
and the support rod 21 are rotatably supported. In this embodiment, the connecting portion 16 is connected to the rotorcraft 1
The first mounting portion 25 and the support rod 21 are arranged so as to be rotatable within a range of a semicircle below 0 and within a range that does not contact the arm portions 14A, 14B, 14C, and 14D. Support. A connection portion 16 is fixed to the upper end of the support rod 21, and a first mounting portion 25 is fixed to the lower end thereof. The support rod 21 and the first mounting portion 25 are maintained in a vertically downwardly suspended state from the rotorcraft 10 by the action of gravity regardless of the attitude of the rotorcraft 10 .

An operator operates a radio control transmitter having an operation unit to operate the rotorcraft 10 . When the receiver receives the radio signal transmitted from the transmitter, the controller of the rotorcraft 10 controls the power units 13A, 13B, 13C, 13D, the camera 28, etc. of the rotorcraft 10 based on the radio signal. Controls each part.

Here, as shown in FIG. 4, the center C of the connecting portion 16 is the four rotor blades 12A, 12B, 1
2C and 12D coincide with the center U of the lift force generated in the airframe of the rotary wing aircraft 10. As shown in FIG. Here, the center C of the connection portion 16 means the support rod 21, the first mounting portion 25 and its first
It is the point of action on the connecting portion 16 of the gravity applied to the object mounted on the mounting portion 25 and the center of rotation of the connecting portion 16 . Further, the center of lift U is the rotor blades 12A, 12B, 12
It is the point of action on the rotorcraft 10 of the lift generated by the rotation of C and 12D.
More specifically, d
, at a position d/n from the upper end in the width direction of each rotor blade, each rotor blade 12
A, 12B, 12C, and 12D act as lift forces (n is 3, for example). Rotation of each of the rotor blades 12A, 12B, 12C, and 12D shown in FIG. The center of the concentric circles through which the axis passes is the center of lift U.

In this way, the center U of the lift generated in the airframe of the rotary wing aircraft 10 is the heavy object (the support rod 21, the first
Since it is positioned at the connecting portion 16, which is the point of action of the gravity of the mounting portion 25 and the object mounted on the first mounting portion 25) and the center of rotation, when the body of the rotorcraft 10 is tilted However, only the vertical downward gravity of the heavy object acts on the center of lift U,
No rotation moment due to the gravity of the heavy object is generated around the center of lift U.

Next, changes in attitude of the rotorcraft 10 will be described with reference to FIG. When the operator uses the operation unit of the transmitter to perform an operation to raise the rotorcraft 10, the control device controls the power units 13A, 13B, 13C, and 13D according to this operation to increase the rotation speeds of the power units 13A, 13B, 13C, and 13D. , power unit 13A
, 13B, 13C and 13D, the rotation speed of the rotor blades 12A, 12B, 12C and 12D also increases. As a result, the rotor blades 12A, 12B, 12C, and 12D gradually generate the lift necessary for the rotorcraft 10 to rise. When the lift force exceeds the gravitational force acting on the rotorcraft 10, the rotorcraft 10 begins to float in the air in the direction of arrow A, as shown in FIG. 5(A). At this time, for example, assuming that the upper limit of the rotational speed level of the rotor blades 12A, 12B, 12C, and 12D is 10, the rotational speed level of each rotor blade 12A, 12B, 12C, and 12D during this ascent is, for example, 6, Both have the same number of revolutions.

Then, when the rotorcraft 10 reaches the desired altitude, the operator operates the transmitter to increase the rotational speeds of the rotorcraft 12A, 12B, 12C, and 12D so that the rotorcraft 10 hovering. to adjust. That is, the rotational speed at this time is the respective rotor blades 12A, 12B, 12C,
This is the rotation speed at which the lift force due to the 2D rotation and the gravity applied to the rotorcraft 10 are in balance, and is the rotation speed level 5, for example.

Next, when the rotorcraft 10 moves in the horizontal direction, the operator operates the transmitter to change the rotational speed of the rotor blades 12B and 12C behind in the direction of travel to forward in the direction of travel. The number of revolutions of the rotor blades 12A and 12D at . At this time, for example, the rear rotor blade 1
2B and 12C are set to 6 rotation speed levels, and the front rotor blades 12A and 12D are set to 4 rotation speed levels. As a result, the lift force by the rear rotor blades 12B and 12C is greater than the lift force by the front rotor blades 12A and 12D, and the position of the rotor blades 12B and 12C is higher than the position of the rotor blades 12A and 12D. Therefore, as shown in FIG. 5B, the rotorcraft 10
The fuselage of the aircraft is tilted forward and downward toward the direction of travel.

As soon as this attitude is taken, the pilot operates the transmitter to
C, adjust the number of rotations of 12D so that it moves horizontally at the desired speed. For example, the rotation speed levels of the rotor blades 12A, 12B, 12C, and 12D at this time are all set to 5. Conventionally, unless the number of rotations of the rotor blades behind in the direction of travel is higher than the number of rotations of the rotor blades in front of the direction of travel, the aircraft attitude cannot be maintained and horizontal movement cannot be achieved. In this embodiment, the rotorcraft 10 can be moved in the arrow B direction as shown in FIG.

As shown in FIGS. 5(B) and 5(C), when the body of the rotorcraft 10 is tilted forward and downward in the direction of travel, the gravity of the heavy object below the support rod 21 is applied to the connecting portion. 16, and as described above, the point of action of the gravity on this connecting portion 16 (the center C of the connecting portion 16) coincides with the center U of the lift force. Therefore, no rotational moment is generated around the center U of the lift force due to the gravity of the heavy objects below the support rod 21 . Therefore, each rotor blade 12A, 12B, 12C
, 12D can remain the same.

Let us explain this mechanically. As shown in FIG. 6, the force acting on the center of lift U (the center of the connecting portion C) is composed of gravity mg caused by mounted objects such as the support rod 21, the first mounting portion 25, and the camera 28, and the rotor blades 12A and 12B. , 12C, and 12D are the lift forces F due to the rotation. The direction of gravity mg is downward in the vertical direction, and the direction of lift force F is in the upward direction orthogonal to a plane passing through the position d/n from the upper end of each rotor blade 12A, 12B, 12C, 12 in the width direction. Let the lift force F be the gravitational force mg
and a component force F2 perpendicular to the direction of the gravity mg, the component force F1 is balanced with the gravity mg, and the component force F2 is the horizontal direction of the rotorcraft 10. driving force. Due to the force components F1 and F2, the rotorcraft 10 moves horizontally while maintaining its altitude.

As described above, according to the present embodiment, when the rotorcraft 10 travels in the horizontal direction, the difference in the number of rotations between the front and rear rotor blades in the direction of travel can be made smaller than before. difference can be zero.

Reducing the difference in rotational speed between the front and rear rotor blades in the traveling direction has the following advantages. First, during the period in which the rotorcraft 10 moves in the horizontal direction, the output of the rotor blades at the rear in the direction of travel is considerably higher than the output at the front in the direction of travel (high output enough to cancel the rotational moment M that has been generated in the past). If the power unit is a motor, the possibility of failure due to heat generation is reduced, and the output performance is lower than before,
There is room for using downgraded power units. If it is allowed to downgrade the power section in this way, it becomes possible to reduce the weight and cost of the entire rotary wing aircraft body, and as a result, it is possible to enjoy improved fuel efficiency and economic benefits.

In addition, when a difference is provided in the number of revolutions of the rotor blades on the front and rear sides of the traveling direction as in the conventional art,
The rotational speed of the rotor blades ahead in the direction of travel is relatively low, and even if the output of the rear power section is increased, part of the output must be used to eliminate the rotational moment. The average number of revolutions of the rotor blades is not very high. For this reason, the traveling speed of the rotorcraft is not very high, and the weight of heavy objects that can be carried by the rotorcraft cannot be too heavy. In contrast, according to the present embodiment, power units 13A, 13B, 13C, 1
The output of the 3D does not have to be used to cancel the rotational moment, and the ratio of the output to the propulsion of the rotorcraft can be increased. Therefore, it contributes to the improvement of the traveling speed of the rotorcraft, and also makes it possible to carry heavier loads.

In addition, in the case of a transportation application in which a load is transported by a rotary wing aircraft, separated in the air above the destination, and dropped at the destination, in the conventional configuration, the moment the load is separated from the rotary wing aircraft, The rotation moment M is suddenly reduced by an amount corresponding to the weight of the cargo, and furthermore, there is a difference in the rotational speed level between the front and rear in the direction of travel, so the behavior of the rotorcraft body becomes extremely unstable. On the other hand, according to the present embodiment, no rotational moment is generated, and there is no difference in the rotational speed level between the front and rear in the traveling direction, so there is no room for the rotational moment to change even if the load is separated. Problems such as those described above do not occur.

[Modification]
The first embodiment described above may be modified as follows.
[Modification 1]
A center-of-gravity moving mechanism for moving the center of gravity of the rotorcraft body may be provided. Figure 7 shows
FIG. 8 is a side view of the rotorcraft 10A according to Modification 1, and FIG. 8 is a side view showing a change in attitude of the rotorcraft 10A. The connecting portion 16A has a second mounting portion 26 arranged on the side opposite to the first mounting portion 25 when viewed from the connecting portion 16A, and the arm portions 14A, 14B, and 14 together with the first mounting portion 25.
C, connect to 14D. The second mounting portion 26 has the support rod 21 and the support rod 22 attached to the first mounting portion 25 .
connected through The second mounting section 26 may be mounted with a power supply, a receiver, a control device, a level, and the like, as well as an antenna for receiving a positioning signal (for example, a GPS signal). The support rod 21 and the support rod 22 are rod-shaped members extending in one direction.
4A, 14B, 14C, and 14D and the rotary wing portions 11A, 11B, 11C, and 11D, it can swing with respect to the fuselage around a connection portion 16A such as a ball joint.

Furthermore, the first mounting portion 25, the second mounting portion 26, and the support rods 21 and 22 can move up and down with respect to the connecting portion 16A by, for example, a rack and pinion mechanism provided on the connecting portion 16A. . When the first mounting portion 25 and the second mounting portion 26 move downward (in the direction of arrow f) due to this vertical movement mechanism, the weight on the first mounting portion 25 side as viewed from the connecting portion 16A is on the second mounting portion 26 side. becomes heavier than the weight of As a result, the position of the center of gravity of the rotorcraft 10A is lowered. In this case, regardless of the attitude of the rotorcraft 10, the action of gravity causes the rotorcraft 10 to
The state in which the first mounting portion 25 is positioned vertically below the rotorcraft 10 and the second mounting portion 26 is positioned above the rotorcraft 10 in the vertical direction can be maintained. On the other hand, when the first mounting portion 25 and the second mounting portion 26 are lifted upward (in the direction of arrow e) by this vertical movement mechanism, the weight of the second mounting portion 26 side as viewed from the connecting portion 16A is greater than that of the first mounting portion. 25 side becomes heavier than the weight of the rotary wing aircraft 10
The position of the center of gravity of the airframe of A will rise. That is, the connecting portion 16A, the first mounting portion 25, the second mounting portion 26, and the support rods 21 and 22 constitute a center-of-gravity moving mechanism for moving the center of gravity of the rotorcraft body.

According to Modification 1, as shown in FIG. 8, by the same control as in the above-described embodiment, the rotary blades 12A, 12B, 12C, and 12D are kept at the same number of revolutions, and the rotorcraft 10A is moved horizontally. can be moved to Furthermore, when an antenna for receiving positioning signals (for example, GPS signals) is mounted on the second mounting portion 26, the weight of the first mounting portion 25 side as viewed from the connecting portion 16A is greater than the weight of the second mounting portion 26 side. When the antenna is made heavy, the orientation of the antenna can always be maintained constant (that is, the antenna always faces vertically upward), so the directivity and gain of the antenna can be maintained constant. Furthermore, the first mounting portion 25, the second mounting portion 26 and the support rod 21
, 22 relative to the connecting portion 16A, the position of the center of gravity of the rotorcraft 10A can be changed.
11D is effective in maintaining the attitude of the rotorcraft 10 in the event of failure. in particular,
When the center of gravity of the body of the rotorcraft 10A is brought closer to the failed and stopped rotor, and the center of gravity of the body is moved and the attitude of the body is changed, the flight can be continued only with the remaining rotor. becomes possible.

[Modification 2]
In the above-described embodiment and modification 1, the first mounting portion 25 or the second mounting portion 26 is the connection portion 16,
It was designed to be able to freely rotate around 16A by the action of gravity, but even if these movements are actively controlled according to the operator's operation using a power unit such as a motor or an auxiliary propeller. good. For example, in the case of the above embodiment, the support rod 21 extends from the connecting portion 16 to the arm portion 1 as a starting point.
The rotorcraft 10 is provided with a drive mechanism that is variable with respect to 4A, 14B, 14C, and 14D, and a motor that drives the drive mechanism. When the operator operates the transmitter and the rotorcraft 10 reaches a desired altitude, the rotational speed of the rotor blades 12B and 12C behind in the direction of travel is higher than the rotational speed of the rotor blades 12A and 12D ahead in the direction of travel. is increased, the posture of the rotorcraft 10 is tilted forward and downward in the direction of travel, and furthermore, the first mounting portion 25 is positioned vertically below the connection portion 16 using the drive mechanism according to the tilt. to control. This control may be performed manually by the operator, or the controller of the rotorcraft 10 may control the rotorcraft 1 based on a predetermined control algorithm.
It may be performed automatically according to the slope of 0. Further, the first mounting portion 25 is provided with two auxiliary propellers that generate propulsive forces in two directions orthogonal to each other when viewed from above, and the propulsive forces of the auxiliary propellers control the position of the first mounting portion 25. good too.
As described above, the connection section may be connected to the arm section so that the first mounting section can be moved by gravity, or connected to the arm section so that the first mounting section can be moved by the power section. You may

[Modification 3]
In Modified Example 1, if the weight on the first mounting portion 25 side and the weight on the second mounting portion 26 side when viewed from the connecting portion 16A are set to be the same, the rotary wing aircraft 10A can be moved in the horizontal direction as shown in FIG. The attitude of the support rod 21 and the support rod 22 can be kept horizontal when moving to. In this case:
For example, if the camera 28 is mounted on the second mounting portion 26, the imaging direction of the camera 28 is the traveling direction of the rotorcraft 10, so for example, the rotor blade 12A enters the imaging range of the camera 28 and becomes an obstacle. Possibility can be reduced. Further, when the attitude of the support rods 21 and 22 is horizontal compared to when the attitude of the support rods 21 and 22 is vertical, the air resistance of the airframe when traveling in the horizontal direction can be reduced. It becomes possible.

[Modification 4]
The structure of the rotorcraft is not limited to those illustrated in the embodiments, and may be structures as shown in FIGS. 10 to 12, for example. A rotary wing aircraft 10B according to Modification 4 includes rotary wing sections 11A, 11B, 1
An arm portion 141 that supports 1C and 11D is configured to have a rectangular shape when viewed from above. The connecting portion 16B is connected to the arm portion 141 so as to be rotatable around the horizontal x-axis.
and a frame 162 connected to the frame 161 by a pin 1611 so as to be rotatable around a horizontal y-axis perpendicular to the x-axis. Between the arm portion 141 and the frame 161, a damper 1 for suppressing rotational motion of the frame 161 around the x-axis
71 is provided, and a damper 172 is provided between the frames 161 and 162 to suppress rotational movement of the frame 162 about the y-axis. These dampers 171 and 172 are
This is a means for lengthening the time required for the displacement so that the attitude of the rotary wing aircraft 10B does not become unstable due to the sudden displacement of the first mounting portion 25 due to the rotational motion of the first mounting portion 25 of 61 and 162 .

[Modification 5]
The present invention is applicable not only when the rotorcraft travels in the horizontal direction, but also when it travels in directions including the horizontal direction (that is, directions with vector components in the horizontal direction). In other words, Figure 6
Even if the component force F1 in the direction parallel to the direction of the gravity mg described in 1 is larger or smaller than the gravity mg, the difference in the number of rotations of the rotor blades forward and backward in the traveling direction is made smaller than before. be able to.

[Modification 6]
The power supply need not be mounted on the rotorcraft. For example, a power supply may be installed on the ground and a power cable extending from the power supply may be connected to the rotorcraft to supply power. Also, if the altitude is about 15m, the wireless power transmission receiver is installed in the center, the first mounting part, or the second mounting part,
Power may be supplied wirelessly to the rotorcraft from the ground.

(Second embodiment)
A second embodiment of the present invention will be described with reference to FIGS. 16 to 18. FIG. note that,
In the description below, the same or similar elements are denoted by the same reference numerals, and detailed descriptions thereof are omitted.

As shown in FIG. 16, the rotorcraft according to the second embodiment also includes a flying section, a main body, and a connecting section that connects the flying section and the main body so that they can swing within a predetermined range. there is A rotorcraft flies primarily in the direction of travel (the X direction).

The flight section includes rotor blades 11A and 11B (11C and 11D not shown), power sections (motors) 13A and 13B (13C and 13D not shown) for supplying power to these, and a power section 13A.
, 13B, and arm portions 14A and 14B (14C and 14D are not shown).

The main body includes a vertically extending support rod, and a first mounting portion and a second mounting portion provided at upper and lower ends of the support rod, respectively. The support bars have a lower support bar 21 extending downward and an upper support bar 22 extending upward. A camera 28T is mounted on the first mounting portion, and a camera 28B is mounted on the second mounting portion.

The connecting portion according to the present embodiment has a so-called biaxial gimbal structure having a first connecting portion 16P and a second connecting portion 16R. The first connection portion 16P connects the main body portion so as to be able to swing in the pitch direction (around the horizontal axis). The second connection portion 16R allows the main body portion to swing about an oblique axis P forming an elevation angle θ with the traveling direction (X axis).

The intersection of the horizontal axis and the oblique axis according to this embodiment is the rotor blades 11A, 11B (11C, 11
D not shown) substantially coincides with the center of lift generated by the rotor blades 11A, 11B (11C, 11D not shown). More specifically, the position of the intersection is the point of action on the rotorcraft of the lift generated in the fuselage by the rotation of the rotor, and is on a plane passing through the width of each rotor in the lateral direction, In addition, it is located at a position substantially coinciding with the point of action at the center of the circle through which the rotating shaft of each of the plurality of rotor blades passes. Furthermore, the above-mentioned intersection according to the present embodiment substantially coincides with the center of gravity G of the main body.

Also, as shown in the figure, the position of the camera 28T is shifted rearward from the main body, and the position of the camera 28B is shifted forward from the main body. As a result, the rotors function as counterweights in the longitudinal direction, and the rotor blades are less likely to enter the field of view during flight in the forward direction.

As shown in FIG. 17, the rotorcraft moves in the direction of travel by tilting the flight section in the direction of travel. At this time, the oblique axis P is sometimes parallel to the horizontal direction. That is, the elevation angle θ shown in FIG. 16 is an angle at which the oblique axis P can be horizontal at least during flight in the forward direction, in other words, the moment when the oblique axis can be at least horizontal during flight in the forward direction. is set to be Specifically, the elevation angle θ is preferably 10 to 35 degrees, preferably 25 to 35 degrees when the flight speed in the direction of travel is important, and 10 to 15 degrees when the flight speed is low. .

As shown in FIG. 18, when the flight speed in the direction of travel is further increased, the oblique axis forms an angle of depression with the horizontal direction.

In this way, in the initial state (at the time of vertical ascent), by making the oblique axis form an elevation angle in advance with the traveling direction, it becomes easier to maintain an appropriate attitude during flight, and in particular, the second connection. Since the effective angle of the portion 16R is increased, it is possible to increase the Sao speed of light. Also, when a motor is used for the connecting portion, the output of the motor can be made small.

<Modification>
The above-described second embodiment may be configured as a modified example as shown in FIG. 19, for example.
As shown, the rotorcraft in this modification has the camera 28T on-axis with the main body (ie, not offset rearward). If the camera 28B is positioned forward, it is possible to suppress the reflection of the rotor blades. is preferred.

10, 10A, 10B, 10C... rotary wing aircraft, 11A, 11B, 11C, 11D... rotary wing section, 12A, 12B, 12C, 12D... rotary wing, 13A, 13B, 13C, 13D... power section, 14A, 14B, 14C, 14D, 141...arm part, 15...center part, 16, 16A,
16B... Connection part 161, 162... Frame body 21, 22... Support rod 25... First mounting part, 26
... second mounting part, 28 ... camera

Claims (5)

A rotary wing aircraft comprising a flight section, a body section, and a connecting section connecting the flight section and the body section so as to be able to swing within a predetermined range,
The flight section includes a plurality of rotor blades and an arm portion supporting the plurality of rotor blades,
The main body includes a rod-shaped portion extending in the vertical direction, and a first mounting portion and a second mounting portion provided at the upper end and the lower end of the rod-shaped portion, respectively,
The connection portion includes a first connection portion that allows the main body portion to swing about a horizontal axis orthogonal to the direction of travel, and a first connection portion that is orthogonal to the horizontal axis and has a predetermined angle with the direction of travel when viewed along the horizontal axis. a second connecting portion that allows the body portion to swing about an oblique axis forming an elevation angle;
rotorcraft. A rotorcraft according to claim 1,
A rotary wing aircraft, wherein the intersection of the horizontal axis and the oblique axis is substantially at the center position of the lift generated in the fuselage by the rotation of the plurality of rotary wings. A rotorcraft according to claim 1,
A rotary wing aircraft, wherein the intersection of the horizontal axis and the oblique axis is at the center of gravity of the main body. The rotary wing aircraft according to any one of claims 1 to 3,
The position of the first mounting portion is shifted rearward from the main body,
The position of the second mounting portion is shifted forward from the body portion,
rotorcraft. The rotorcraft according to any one of claims 1 to 4,
The flight unit moves in the direction of travel so as to be tilted in the direction of travel, and the elevation angle is an angle at which the oblique axis can be horizontal at least during flight in the direction of travel.
rotorcraft.

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