JP7345226B2 - aircraft - Google Patents

Description

TECHNICAL FIELD The present invention relates to aircraft.

Aircraft that perform vertical takeoff and landing are known. For example, the aircraft described in Patent Document 1 includes a fuselage, a pair of fixed wings extending from the fuselage in the left-right direction, and a vertically upward direction by being supported by and rotatably driven by the pair of fixed wings. It includes a plurality of rotary blades that generate thrust (in other words, upward thrust) to propel the vehicle toward the vehicle.

In order to control the attitude of an aircraft in the yaw direction, when looking at the aircraft vertically downward, there is a torque that attempts to rotate the aircraft clockwise (in other words, yaw clockwise torque) and a torque that attempts to rotate the aircraft counterclockwise. The central axis of rotation of each of the plurality of rotary blades is tilted so as to generate a clockwise rotation torque (in other words, a yaw counterclockwise torque).

International Publication No. 2018/075414

By the way, when an aircraft flies in a vertical direction (for example, during takeoff and landing), some of the plurality of rotary wings may stop operating. In this case, the upward thrust lost due to the stoppage of operation is compensated for by increasing the rotational speed of the other rotor blades. At this time, the rotational speed of each rotor blade is adjusted so that the magnitude of the clockwise yaw torque and the magnitude of the counterclockwise yaw torque match each other.

By the way, when the central axis of rotation of a rotor blade is inclined with respect to the vertical direction, both the upward thrust and the torque in the yaw direction generated by the rotor blade change as the rotation speed changes. do. Therefore, in order to compensate for the upward thrust while matching the magnitude of the clockwise yaw torque and the magnitude of the counterclockwise yaw torque generated by multiple rotors, it is necessary to There was a risk that this would occur.

One of the objects of the present invention is to suppress the rotation speed of the rotor blade from becoming excessively high.

In one aspect, the aircraft performs vertical takeoff and landing.
The aircraft includes a fuselage, at least one pair of fixed wings, and a plurality of first rotary wings that extend from the fuselage in the left-right direction.
The plurality of first rotary wings are supported by at least one pair of fixed wings and are rotationally driven to generate thrust that propels the aircraft vertically upward.
The plurality of first rotary wings are four planes defined by a first plane that is orthogonal to the left-right direction of the aircraft and passes through the center of gravity of the aircraft, and a second plane that is orthogonal to the longitudinal direction of the aircraft and passes through the center of gravity of the aircraft. At least two are located in each of the quadrant areas.
In each of the four quadrant regions, at least one first rotor blade of the at least two first rotor blades located in the quadrant region has a central axis of rotation that is not inclined with respect to the vertical direction, and The center axis of rotation of the other first rotor among the at least two first rotors is inclined with respect to the vertical direction.

In another aspect, the aircraft performs vertical takeoff and landing.
The aircraft includes a fuselage, at least one pair of fixed wings, and a plurality of first rotary wings that extend from the fuselage in the left-right direction.
The plurality of first rotary wings are supported by at least one pair of fixed wings and are rotationally driven to generate thrust that propels the aircraft vertically upward.
At least one of the plurality of first rotary blades has a central axis of rotation inclined with respect to the vertical direction.
The sum of rotation center vectors for the plurality of first rotors has a component in the forward direction of the aircraft.
The rotation center vector is a unit vector having a direction along the rotation center axis of the first rotor blade and having a vertically upward component.

It is possible to suppress the rotation speed of the rotor blade from becoming excessively high.

FIG. 1 is a perspective view showing the configuration of an aircraft according to a first embodiment. FIG. 1 is a top view showing a schematic configuration of an aircraft according to a first embodiment. FIG. 1 is a block diagram showing a schematic configuration of a rotary blade module according to a first embodiment. FIG. 2 is an explanatory diagram showing the rotational direction of the first rotary wing of the aircraft of the first embodiment and the inclination direction of the central axis of rotation. FIG. 3 is an explanatory diagram showing the inclination direction of the center axis of rotation and the center vector of rotation of the rotor module of the first embodiment. FIG. 7 is an explanatory diagram showing the rotational direction of the first rotary wing and the inclination direction of the central axis of rotation of the aircraft of the first modification of the first embodiment. FIG. 7 is an explanatory diagram showing the rotational direction of the first rotary wing and the inclination direction of the central axis of rotation of the aircraft according to the second modification of the first embodiment. FIG. 7 is an explanatory diagram showing the rotational direction of the first rotary wing and the inclination direction of the central axis of rotation of the aircraft according to the third modification of the first embodiment. FIG. 7 is an explanatory diagram showing the rotational direction of the first rotary wing and the inclination direction of the central axis of rotation of the aircraft according to the fourth modification of the first embodiment. FIG. 7 is an explanatory diagram showing the inclination direction of the center axis of rotation and the center vector of rotation of the rotor module of the second embodiment. FIG. 6 is an explanatory diagram showing the rotational direction of the first rotary wing and the inclination direction of the central axis of rotation of the aircraft according to the first modification of the second embodiment. FIG. 7 is an explanatory diagram showing the rotational direction of the first rotary wing and the inclination direction of the central axis of rotation of the aircraft according to the second modification of the second embodiment. FIG. 7 is an explanatory diagram showing the rotational direction of the first rotary wing and the inclination direction of the central axis of rotation of the aircraft according to the third modification of the second embodiment. FIG. 7 is an explanatory diagram showing the rotational direction of the first rotary wing and the inclination direction of the central axis of rotation of the aircraft according to the fourth modification of the second embodiment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Each embodiment of the present invention relating to an aircraft will be described below with reference to FIGS. 1 to 14.

<First embodiment>
(overview)
The aircraft of the first embodiment performs vertical takeoff and landing.
The aircraft includes a fuselage, at least one pair of fixed wings, and a plurality of first rotary wings that extend from the fuselage in the left-right direction.
The plurality of first rotary wings are supported by at least one pair of fixed wings and are rotationally driven to generate thrust that propels the aircraft vertically upward.

The plurality of first rotary wings are four planes defined by a first plane that is orthogonal to the left-right direction of the aircraft and passes through the center of gravity of the aircraft, and a second plane that is orthogonal to the longitudinal direction of the aircraft and passes through the center of gravity of the aircraft. At least two are located in each of the quadrant areas.

In each of the four quadrant regions, at least one first rotor blade of the at least two first rotor blades located in the quadrant region has a central axis of rotation that is not inclined with respect to the vertical direction, and The center axis of rotation of the other first rotor among the at least two first rotors is inclined with respect to the vertical direction.

According to this, in each quadrant region, there is a first rotor blade whose central axis of rotation is not inclined with respect to the vertical direction. In the first rotary blade, only the upward thrust changes as the rotational speed changes. Thereby, the upward thrust can be adjusted independently of the torque in the yaw direction in each quadrant region. As a result, it is possible to suppress the rotation speed of the rotor blade from becoming excessively high.
Next, the aircraft of the first embodiment will be described in more detail.

(composition)
As shown in FIGS. 1 and 2, the aircraft 1 performs vertical takeoff and landing. In this example, the aircraft 1 is an eVTOL (electric vertical take-off and landing) that flies the aircraft using electric power. The aircraft 1 flies in a vertical direction (in other words, ascends or descends in the vertical direction) in a vertical flight state (in other words, takes off and lands), and in a horizontal direction (in other words, cruises). The operating state switches between a state of horizontal flight (in other words, a cruising state).

In this example, each direction (for example, an up-down direction, a front-back direction, or a left-right direction) described below is a direction in a cruising state. Note that each direction may be a direction during takeoff and landing. The upward direction and the downward direction are a vertically upward direction and a vertically downward direction, respectively.

The aircraft 1 includes a fuselage 10, a pair of front fixed wings 20-1 and 20-2, and a pair of rear fixed wings 20-3 and 20-4. Note that the number of pairs of fixed wings included in the aircraft 1 may be one pair, or three or more pairs. In this example, each of the pair of front fixed wings 20-1, 20-2 and the pair of rear fixed wings 20-3, 20-4 is simply a fixed wing 20-j (j is 1 to 1). (represents an integer of 4).

The fuselage 10 extends in the longitudinal direction of the aircraft 1 at a central portion of the aircraft 1 in the left-right direction. In this example, the fuselage 10 has two rod-like bodies or columnar bodies whose positions in the vertical direction of the aircraft 1 and positions in the longitudinal direction of the aircraft 1 are different from each other. They have shapes that are connected to each other.

In this example, the end face of the fuselage 10 in the vertically downward direction of the end in the forward direction of the aircraft 1 is located vertically lower than the end face in the vertically downward direction of the end in the aft direction of the aircraft 1 . In this example, the end face of the fuselage 10 in the vertically upward direction of the end in the forward direction of the aircraft 1 is located vertically lower than the end face in the vertically upward direction of the end in the aft direction of the aircraft 1 .

Note that the fuselage 10 may have a rod shape or a column shape that extends in the forward direction of the aircraft 1. For example, the fuselage 10 may have a shape that becomes thinner toward the tip (in other words, a tapered shape) at each of both ends in the longitudinal direction of the aircraft 1.
For example, the length of the body 10 in the front-rear direction may be 1 m to 15 m.

The pair of front fixed wings 20-1 and 20-2 are plate-shaped and extend from the fuselage 10 to the left of the aircraft 1 and to the right of the aircraft 1, respectively. Each of the pair of front fixed wings 20-1 and 20-2 has an airfoil shape in a cross section taken by a plane perpendicular to the left-right direction of the aircraft 1.

The pair of front fixed wings 20-1 and 20-2 are symmetrical to each other with respect to a plane that is perpendicular to the left-right direction of the aircraft 1 and passes through the center of the fuselage 10 in the left-right direction. For example, the length of each of the pair of front fixed wings 20-1 and 20-2 in the left-right direction may be 0.5 m to 10 m.

The pair of front fixed wings 20-1 and 20-2 are located forward of the center of the fuselage 10 in the longitudinal direction of the aircraft 1. In this example, the pair of front fixed wings 20-1 and 20-2 are located at the ends of the fuselage 10 in the forward direction. For example, the pair of forward fixed wings 20-1 and 20-2 are arranged from the forward end of the fuselage 10 to the rearward end of the pair of forward fixed wings 20-1 and 20-2 in the longitudinal direction of the aircraft 1. The ratio of the distance to the length of the fuselage 10 in the longitudinal direction of the aircraft 1 has a value of 0.01 to 0.4 (0.1 to 0.3 in this example).

The pair of front fixed wings 20-1 and 20-2 are located below the center of the fuselage 10 in the vertical direction of the aircraft 1. In this example, the pair of front fixed wings 20-1 and 20-2 are located at the lower ends of the fuselage 10. For example, the pair of front fixed wings 20-1 and 20-2 are arranged from the lower end of the fuselage 10 to the upper end of the pair of front fixed wings 20-1 and 20-2 in the vertical direction of the aircraft 1. to the height of the fuselage 10 in the vertical direction of the aircraft 1 (in this example, the maximum height of the fuselage 10 in the vertical direction of the aircraft 1 excluding the tail wings 11-1 and 11-2 described later) The ratio has a value between 0.01 and 0.4 (in this example, between 0.05 and 0.2).

The pair of rear fixed wings 20-3 and 20-4 are plate-shaped and extend from the fuselage 10 to the left of the aircraft 1 and to the right of the aircraft 1, respectively. Each of the pair of rear fixed wings 20-3 and 20-4 has an airfoil shape in a cross section taken by a plane perpendicular to the left-right direction of the aircraft 1.

The pair of rear fixed wings 20-3 and 20-4 are symmetrical to each other with respect to a plane that is perpendicular to the left-right direction of the aircraft 1 and passes through the center of the fuselage 10 in the left-right direction. The length of each of the pair of rear fixed wings 20-3, 20-4 in the left-right direction is approximately equal to the length of each of the pair of front fixed wings 20-1, 20-2 in the left-right direction. In this example, the length of each of the pair of rear fixed wings 20-3, 20-4 in the left-right direction is slightly smaller than the length of each of the pair of front fixed wings 20-1, 20-2 in the left-right direction. long. For example, the length of each of the pair of rear fixed wings 20-3 and 20-4 in the left-right direction may be 0.5 m to 10 m.

The pair of rear fixed wings 20-3 and 20-4 are located behind the center of the fuselage 10 in the longitudinal direction of the aircraft 1. In this example, the pair of rear fixed wings 20-3 and 20-4 are located at the ends of the fuselage 10 in the rearward direction. For example, the pair of rear fixed wings 20-3 and 20-4 are arranged from the rear end of the fuselage 10 to the forward end of the pair of rear fixed wings 20-3 and 20-4 in the longitudinal direction of the aircraft 1. The ratio of the distance to the length of the fuselage 10 in the longitudinal direction of the aircraft 1 has a value of 0.01 to 0.4 (0.1 to 0.3 in this example).

The pair of rear fixed wings 20-3 and 20-4 are located above the center of the fuselage 10 in the vertical direction of the aircraft 1. In this example, the pair of rear fixed wings 20-3 and 20-4 are located at the upper ends of the fuselage 10. For example, the pair of rear fixed wings 20-3 and 20-4 are arranged from the upper end of the fuselage 10 to the lower end of the pair of rear fixed wings 20-3 and 20-4 in the vertical direction of the aircraft 1. The ratio of the distance to the height of the fuselage 10 in the vertical direction of the aircraft 1 has a value of 0.01 to 0.4 (0.05 to 0.2 in this example).

As described above, in this example, the aircraft 1 includes two pairs of fixed wings 20-1 to 20-4 whose positions in the longitudinal direction of the aircraft 1 are different from each other and whose positions in the vertical direction of the aircraft 1 are different from each other.

In this example, the pair of front fixed wings 20-1, 20-2 and the pair of rear fixed wings 20-3, 20-4 are located in four quadrant regions, respectively. The four quadrant areas include a first plane P1 that is perpendicular to the left-right direction of the aircraft 1 and passes through the center of gravity CG of the aircraft 1, and a second plane P2 that is orthogonal to the longitudinal direction of the aircraft 1 and passes through the center of gravity CG of the aircraft 1. , is partitioned by .

The aircraft 1 has a plurality of (16 in this example) rotary wings fixed to a pair of forward fixed wings 20-1, 20-2 and a pair of rear fixed wings 20-3, 20-4. It includes modules 40-1 to 40-16. Note that the number of rotary wing modules included in the aircraft 1 may be from 2 to 15, or may be 17 or more. For example, the number of rotary wing modules included in the aircraft 1 is 8, 12, 16, 20, or 24.

In this example, the plurality of rotary wing modules 40-1 to 40-16 are removable into a pair of forward fixed wings 20-1, 20-2 and a pair of rear fixed wings 20-3, 20-4. Fixed. Note that the plurality of rotary wing modules 40-1 to 40-16 are irremovably fixed to a pair of forward fixed wings 20-1, 20-2 and a pair of rear fixed wings 20-3, 20-4. (for example, integrally formed).

The four rotary wing modules 40-1 to 40-4 are fixed to the front fixed wing 20-1, which is located on the left side of the fuselage 10, of the pair of front fixed wings 20-1. The four rotary wing modules 40-5 to 40-8 are fixed to the front fixed wing 20-2, which is located on the right side of the fuselage 10, of the pair of front fixed wings 20-1. The four rotary wing modules 40-9 to 40-12 are fixed to the rear fixed wing 20-3 located on the left side of the fuselage 10, of the pair of rear fixed wings 20-3 and 20-4. . The four rotary wing modules 40-13 to 40-16 are fixed to the rear fixed wing 20-4 located on the right side of the fuselage 10, of the pair of rear fixed wings 20-3 and 20-4. .

Eight rotary wing modules 40-1 to 40-4, 40-9 to 40-12 located on the left side of the fuselage 10 and eight rotary wing modules 40-5 to 40 located on the right side of the fuselage 10. −8, 40-13 to 40-16 are symmetrical to each other with respect to a plane that is perpendicular to the left-right direction of the aircraft 1 and passes through the center of the fuselage 10 in the left-right direction.

For example, the rotary wing module 40-i (i represents an integer from 1 to 16) fixed to the fixed wing 20-j is configured to rotate from the tip of the fixed wing 20-j in the left-right direction of the aircraft 1. A position where the ratio of the distance to the wing module 40-i to the length of the fixed wing 20-j in the left-right direction of the aircraft 1 is a value of 0 to 0.9 (in this example, 0 to 0.8). has.

In this example, four rotary wing modules 40-k to 40-l are fixed to the fixed wing 20-j (k represents an integer of 1, 5, 9, or 13; l is an integer of k+3). ) are located at equal intervals in the left-right direction of the aircraft 1. Note that the four rotary wing modules 40-k to 40-l fixed to the fixed wing 20-j may have different intervals in the left-right direction of the aircraft 1.

For example, the four rotary wing modules 40-k to 40-l fixed to the fixed wing 20-j are the same as those of the four rotary wing modules 40-k to 40-l in the left-right direction of the aircraft 1. , the ratio of the distance between two adjacent rotary wing modules to the length of the fixed wing 20-j in the left-right direction of the aircraft 1 is 0.1 to 0.4 (in this example, 0.2 to 0.4). 0.3).

In this example, the distance between two adjacent rotary wing modules among the four rotary wing modules 40-1 to 40-4 fixed to the front fixed wing 20-1 in the left-right direction of the aircraft 1. and the distance between two adjacent rotary wing modules among the four rotary wing modules 40-9 to 40-12 fixed to the rear fixed wing 20-3 are equal to each other. Note that the distances between the two may be different from each other.

In this example, in the left-right direction of the aircraft 1, the positions of four rotary wing modules 40-1 to 40-4 fixed to the front fixed wing 20-1 and the four rotary wing modules fixed to the rear fixed wing 20-3 are determined. The positions of the rotary blade modules 40-9 to 40-12 coincide with each other. Note that the positions of both may be different from each other.

As shown in FIG. 3, the rotary blade module 40-i fixed to the fixed blade 20-j includes a support body 401, a pair of first rotary blades 402-1 and 402-2, and a pair of first rotary blades 402-1 and 402-2. Electric motors 403-1, 403-2, a pair of speed controllers 404-1, 404-2, a pair of controllers 405-1, 405-2, and a pair of first control signal lines 406-1. , 406-2.

The support body 401 extends from the front of the fixed wing 20-j to the rear of the fixed wing 20-j in the longitudinal direction of the aircraft 1 (in other words, when the aircraft 1 is viewed in the vertical direction). It has a rod-like or column-like shape that extends in the front-rear direction. The support body 401 is removably fixed to the fixed wing 20-j at a central portion in the longitudinal direction of the aircraft 1.

In this example, the support body 401 is located below the fixed wing 20-j. According to this, since the center of gravity of the aircraft 1 can be located below, even if a change in the attitude of the aircraft occurs, the change can be quickly suppressed. Note that the support body 401 may be located above the fixed wing 20-j.

Each of the pair of first rotary blades 402-1 and 402-2 is rotatably supported by the support body 401 such that the central axis of rotation extends in a direction whose main component is the vertical direction of the aircraft 1. Ru. The pair of first rotary blades 402-1, 402-2 generate thrust that propels the aircraft 1 upward by being rotationally driven by a pair of electric motors 403-1, 403-2, respectively.

The pair of first rotary wings 402-1 and 402-2 are located in front of the fixed wing 20-j and behind the fixed wing 20-j, respectively, in the longitudinal direction of the aircraft 1. In other words, the first rotary wing 402-1 is located in front of the fixed wing 20-j in the longitudinal direction of the aircraft 1, and the first rotary wing 402-2 is located in front of the fixed wing 20-j in the longitudinal direction of the aircraft 1. - located behind j. In this example, the pair of first rotary blades 402-1 and 402-2 are located at both ends of the support body 401 in the longitudinal direction of the aircraft 1, respectively.

The pair of first rotary wings 402-1, 402-2 is the fixed wing 20 in the longitudinal direction of the aircraft 1, which is the distance between the pair of first rotary wings 402-1, 402-2 in the longitudinal direction of the aircraft 1. It may have positions where the ratio of -j to length has a value of 1.2 to 4.5 (in this example, 2 to 3).
In this example, the first rotary blades 402-1, 402-2 may be expressed as rotors.
Note that the details of the rotation direction and center axis of rotation of the pair of first rotary blades 402-1 and 402-2 will be described later.

Below, the configuration for rotationally driving the first rotary blade 402-1 (in this example, the electric motor 403-1, speed controller 404-1, controller 405-1, and first control signal line 406-1) is explained. Note that the configuration for rotationally driving the first rotary blade 402-2 (in this example, the electric motor 403-2, the speed controller 404-2, the controller 405-2, and the first control signal line 406-2) will be explained in the same way as the configuration for rotationally driving the first rotary blade 402-1, so the explanation will be omitted.

In this example, the speed controller 404-1 and the controller 405-1 are housed inside the support body 401. Note that at least a portion of the electric motor 403-1 may also be housed inside the support body 401.

The electric motor 403-1 rotates the first rotary blade 402-1 according to the electric power supplied from the speed controller 404-1.

The speed controller 404-1 controls the rotation of the first rotary blade 402-1 rotationally driven by the electric motor 403-1 according to a control signal transmitted from the controller 405-1 through the first control signal line 406-1. The electric power supplied to the electric motor 403-1 is controlled so as to control the speed (in other words, the number of rotations).

In this example, the speed controller 404-1 may be expressed as an ESC (Electric Speed Controller).
In this example, the electric motor 403-1 and the speed controller 404-1 correspond to the first rotation drive section.

In this example, power is supplied to the speed controller 404-1 from a storage battery (not shown). For example, a storage battery is fixed to the support 401. Note that the storage battery may be fixed to the fixed wing 20-j or the fuselage 10.

Controller 405-1 controls speed controller 404-1 in accordance with a control signal transmitted through second control signal line 14 from control device 13, which will be described later.

With such a configuration, the aircraft 1 can fly over the aircraft 1, where each of the pair of first rotary wings 402-1 and 402-2 provided in each of the plurality of rotary wing modules 40-1 to 40-16 is generated. Vertical take-off and landing is performed by thrust that propels the aircraft in the same direction.

The fuselage 10 has an internal space that accommodates objects to be transported. In this example, the internal space is located between a pair of front fixed wings 20-1, 20-2 and a pair of rear fixed wings 20-3, 20-4 in the longitudinal direction of the aircraft 1. . For example, the interior space is located at the center of the aircraft 1 in the longitudinal direction.

The object to be transported includes at least one of a person and an object. For example, a person included in the transportation target may be represented as a passenger. For example, a passenger may operate the aircraft 1. Furthermore, if the aircraft 1 is configured to fly by autopilot, the passenger does not need to pilot the aircraft 1. For example, objects included in the transportation target are cargo or baggage.

For example, the interior space of fuselage 10 may accommodate one to five passengers. In this example, the interior space of the fuselage 10 can accommodate one or two passengers.
For example, the maximum takeoff weight of the aircraft 1 may be between 120 kg and 3000 kg. In this example, the maximum takeoff weight of the aircraft 1 is between 150 kg and 460 kg. The body 10 includes a door (in this example, a cowl) that can open and close the accommodation space.

As shown in FIG. 2, the fuselage 10 includes a pair of tail wings 11-1 and 11-2, a second rotary wing 12, a control device 13, and a second control signal line 14. Note that the number of tail wings provided in the fuselage 10 may be one, or three or more.

The pair of tail wings 11-1 and 11-2 are located at the ends of the fuselage 10 in the rearward direction. The pair of tail wings 11-1 and 11-2 have components in the upward direction of the aircraft 1 and in the left-right direction of the aircraft 1, and as they move upwards in the aircraft 1, the tail planes 11-1 and 11-2 have components in the upward direction of the aircraft 1 and in the left-right direction of the aircraft 1. It has a plate shape extending from the body 10 in the direction of increasing distance. The pair of tail wings 11-1 and 11-2 are symmetrical to each other with respect to a plane that is perpendicular to the left-right direction of the aircraft 1 and passes through the center of the fuselage 10 in the left-right direction.

The second rotary wing 12 is rotatably supported by the fuselage 10 such that the central axis of rotation extends in a direction whose main component is the longitudinal direction of the aircraft 1. The second rotary blade 12 generates a thrust force that propels the aircraft 1 forward by being rotationally driven by a second rotary drive section (not shown).

With such a configuration, the aircraft 1 uses the thrust generated by the second rotor 12 to propel the aircraft 1 forward, the pair of forward fixed wings 20-1, 20-2, and the pair of rear fixed wings 20-1, 20-2. The aircraft flies in the horizontal direction due to the lift generated by the fixed wings 20-3 and 20-4.

In this example, the second rotary wing 12 is located at the end of the fuselage 10 in the rearward direction. Note that the second rotary wing 12 may be located at a portion other than the end of the fuselage 10 in the rear direction (for example, the end of the fuselage 10 in the front direction, or the central part of the fuselage 10 in the front-rear direction). .

Note that the number of second rotary wings 12 included in the fuselage 10 may be two or more. In this case, for example, the plurality of second rotary wings 12 may be located at both the front end of the fuselage 10 and the rear end of the fuselage 10, or only one of them may be located. It may be located. Further, for example, the plurality of second rotary wings 12 are located on at least one of the pair of front fixed wings 20-1, 20-2 and the pair of rear fixed wings 20-3, 20-4. It's okay.
In this example, the second rotary blade 12 may be expressed as a propeller.

The control device 13 controls the aircraft 1 by operating using electric power. The control device 13 includes electronic equipment that acquires information representing the state of the aircraft 1 (for example, altitude, longitude, latitude, speed, etc.). In this example, the control device 13 includes avionics (eg, communication equipment, navigation system, flight management system, etc.).

In this example, the control device 13 generates a control signal according to the passenger's maneuver, and based on the generated control signal, the first rotor blade 402-1, 402-2 and the rotation speed of each of the second rotor blades 12.

In this example, power is supplied to the control device 13 from a storage battery (not shown). For example, the storage battery is fixed to the fuselage 10. Note that the storage battery may be fixed to the fixed wing 20-j.
Note that details of the control device 13 will be described later.

Here, details of the rotation direction and the center axis of rotation of the pair of first rotary blades 402-1 and 402-2 will be explained.

As shown in FIG. 4, the four pairs of first rotary blades 402-1 and 402-2 included in each of the four rotary blade modules 40-1 to 40-4 are located in the four quadrant areas. It is located in a quadrant area (in other words, a first quadrant area) which is the front side of the aircraft 1 and the left side of the aircraft 1. The four pairs of first rotary blades 402-1 and 402-2 included in the four rotary wing modules 40-5 to 40-8 are located on the front side of the aircraft 1 in the four quadrant areas, and 1 (in other words, the second quadrant area).

The four pairs of first rotary blades 402-1 and 402-2 included in the four rotary wing modules 40-9 to 40-12 are located on the rear side of the aircraft 1 in the four quadrant areas, and 1 (in other words, the third quadrant area). The four pairs of first rotary blades 402-1 and 402-2 included in the four rotary wing modules 40-13 to 40-16 are located on the rear side of the aircraft 1 in the four quadrant areas, and 1 (in other words, the fourth quadrant area).

In this example, the fact that the first rotary blades 402-1, 402-2 are located in the quadrant region means that the central axis of rotation on the rotational surface of the first rotary blades 402-1, 402-2 is located in the quadrant region. correspond to that.

In this example, in each of the plurality of rotary blade modules 40-1 to 40-16, the pair of first rotary blades 402-1 and 402-2 have different rotation directions.
In FIG. 4, as represented by the black arc-shaped arrow, for example, the first rotor blade 402-1 of the rotor module 40-1 has the following characteristics when the aircraft 1 is viewed vertically downward. It rotates counterclockwise (in this example, the first rotation direction). Further, in FIG. 4, as indicated by the white arc-shaped arrow, for example, the first rotor blade 402-2 of the rotor module 40-1 is , it rotates clockwise (in this example, the second rotation direction).

In this example, the two first rotary blades 402-1 adjacent in the left-right direction of the aircraft 1 have different rotation directions, and the two first rotary blades 402-1 adjacent in the left-right direction of the aircraft 1 have different rotation directions. 2 have different rotation directions. Furthermore, in this example, the two first rotary wings 402-1 and 402-2 that are adjacent to each other in the vertical direction of the aircraft 1 have different rotation directions.

As shown in FIG. 5, in the first rotary blade 402-1 of the rotary blade module 40-1, the central axis of rotation CA is not inclined with respect to the vertical direction (in this example, the central axis of rotation CA is vertical direction). In this example, the upward direction and downward direction in FIG. 5 correspond to the vertically upward direction and the vertically downward direction, respectively. In this example, the left direction and right direction in FIG. 5 correspond to the front direction and the rear direction of the aircraft 1, respectively.

In FIG. 5, the arrow labeled CV represents the rotation center vector. The rotation center vector CV is a unit vector having a direction along the rotation center axis CA of the first rotary blade 402-1 and having a vertically upward component.

In this example, the central axis of rotation CA not being inclined with respect to the vertical direction includes that the central axis of rotation CA is slightly inclined with respect to the vertical direction. In this example, the fact that the central axis of rotation CA is slightly inclined with respect to the vertical direction corresponds to the fact that the central axis of rotation CA is inclined with respect to the vertical direction at an angle of 3 degrees or less.

As shown in FIG. 4, on the central axis of rotation of the first rotary blades 402-1, 402-2 (for example, the first rotary blade 402-1 of the rotary blade module 40-1), a symbol ND is attached. The fact that a white circle is drawn indicates that the center axis of rotation of the first rotary blades 402-1, 402-2 is not inclined with respect to the vertical direction.

In this example, as shown in FIG. 4, in each of the four quadrant areas, the center of gravity of the aircraft 1 of the four pairs of first rotary wings 402-1, 402-2 located in the quadrant area is The first rotor blade having the longest distance from the CG (in this example, the first rotor blade 402-1 of the rotor module 40-1, the first rotor blade 402-1 of the rotor module 40-8, The central axes of rotation of the first rotary blade 402-2 of the blade module 40-9 and the first rotary blade 402-2 of the rotary blade module 40-16 are not inclined with respect to the vertical direction.

Furthermore, in this example, as shown in FIG. The first rotor blade having the shortest distance from the center of gravity CG (in this example, the first rotor blade 402-2 of the rotor module 40-4, the first rotor blade 402-2 of the rotor module 40-5) , the first rotor blade 402-1 of the rotor module 40-12, and the first rotor blade 402-1 of the rotor module 40-13), the central axes of rotation are not inclined with respect to the vertical direction.

As shown in FIG. 5, the central axis of rotation CA of the first rotary blade 402-2 of the rotary blade module 40-1 is inclined with respect to the vertical direction. In this example, the first rotor blade 402-2 of the rotor module 40-1 is inclined such that the central axis of rotation CA is located at the rear of the aircraft 1 as it goes upwards with respect to the vertical direction. (In other words, the aircraft 1 tilts to the rear). In other words, the rotation center vector CV of the first rotor 402-2 of the rotor module 40-1 consists of a component in the rearward direction of the aircraft 1 and a component in the upward direction of the aircraft 1.

In this example, the rotation center axis CA is inclined with respect to the vertical direction when the angle at which the rotation center axis CA is inclined with respect to the vertical direction (in other words, the inclination angle) is between 5 degrees and 20 degrees. respond to something. Note that if the inclination angle is less than 5 degrees, the torque in the yaw direction will be too small. Moreover, when the inclination angle is larger than 20 degrees, the upward thrust becomes too small. When the inclination angle is 8 degrees or more, the torque in the yaw direction can be sufficiently increased. Further, when the inclination angle is 16 degrees or less, the upward thrust can be sufficiently increased.

As shown in FIG. 4, a symbol BD is attached on the central axis of rotation of the first rotor blades 402-1, 402-2 (for example, the first rotor blade 402-2 of the rotor module 40-1). The fact that the white downward arrow is drawn indicates that the center axis of rotation of the first rotor blades 402-1, 402-2 is inclined toward the rear of the aircraft 1 with respect to the vertical direction.

In this example, as shown in FIG. 4, the first rotor 402-2 of the rotor module 40-1, the first rotor 402-2 of the rotor module 40-3, and the first rotor 402-2 of the rotor module 40-6. The first rotor 402-2, the first rotor 402-2 of the rotor module 40-8, the first rotor 402-1 of the rotor module 40-10, and the first rotation of the rotor module 40-15. The central axis of rotation of the wing 402-1 is inclined toward the rear of the aircraft 1 with respect to the vertical direction.

Further, as shown in FIG. 4, on the central axis of rotation of the first rotary blades 402-1, 402-2 (for example, the first rotary blade 402-2 of the rotary blade module 40-2), a symbol FD The fact that the white upward arrow with the mark is drawn means that the central axis of rotation of the first rotor blades 402-1, 402-2 moves upward of the aircraft 1 with respect to the vertical direction. It represents tilting so as to have a forward position (in other words, tilting toward the front of the aircraft 1). In other words, the rotation center vector CV of the first rotary wing 402-2 of the rotary wing module 40-2 consists of a component in the forward direction of the aircraft 1 and a component in the upward direction of the aircraft 1.

In this example, as shown in FIG. 4, the first rotor 402-2 of the rotor module 40-2, the first rotor 402-2 of the rotor module 40-7, and the The first rotor 402-1, the first rotor 402-1 of the rotor module 40-11, the first rotor 402-1 of the rotor module 40-14, and the first rotation of the rotor module 40-16. The center axis of rotation of the wing 402-1 is inclined toward the front of the aircraft 1 with respect to the vertical direction.

Further, as shown in FIG. 4, on the central axis of rotation of the first rotary blades 402-1, 402-2 (for example, the first rotary blade 402-1 of the rotary blade module 40-2), there is a symbol LD. The white left-pointing arrow marked with is drawn as the central axis of rotation of the first rotor 402-1, 402-2 moves upward of the aircraft 1 with respect to the vertical direction. It represents tilting to have a leftward position (in other words, tilting to the left of the aircraft 1). In other words, the rotation center vector CV of the first rotary wing 402-1 of the rotary wing module 40-2 consists of a component to the left of the aircraft 1 and a component to the upward direction of the aircraft 1.

In this example, as shown in FIG. 4, the first rotor 402-1 of the rotor module 40-2, the first rotor 402-1 of the rotor module 40-4, and the first rotor 402-1 of the rotor module 40-6. The first rotor 402-1, the first rotor 402-2 of the rotor module 40-10, the first rotor 402-2 of the rotor module 40-12, and the first rotation of the rotor module 40-14. The center axis of rotation of the wing 402-2 is inclined to the left of the aircraft 1 with respect to the vertical direction.

Further, as shown in FIG. 4, on the central axis of rotation of the first rotary blades 402-1, 402-2 (for example, the first rotary blade 402-1 of the rotary blade module 40-3), there is a symbol RD. The reason why the white rightward arrow with the mark is drawn is that the center axis of rotation of the first rotor 402-1, 402-2 moves upward of the aircraft 1 with respect to the vertical direction. It represents tilting so as to have a rightward position (in other words, tilting to the right of the aircraft 1). In other words, the rotation center vector CV of the first rotary wing 402-1 of the rotary wing module 40-3 consists of a component to the right of the aircraft 1 and a component to the upward direction of the aircraft 1.

In this example, as shown in FIG. 4, the first rotor 402-1 of the rotor module 40-3, the first rotor 402-1 of the rotor module 40-5, and the The first rotor 402-1, the first rotor 402-2 of the rotor module 40-11, the first rotor 402-2 of the rotor module 40-13, and the first rotation of the rotor module 40-15. The center axis of rotation of the wing 402-2 is inclined to the right of the aircraft 1 with respect to the vertical direction.

In this way, in this example, when the center axis of rotation of the first rotor blades 402-1, 402-2 is inclined with respect to the vertical direction, the rotation center vector of the first rotor blades 402-1, 402-2 is CV is the torque that attempts to rotate the aircraft 1 in the opposite direction to the direction of rotation of the first rotary blades 402-1, 402-2 due to the thrust generated by the first rotary blades 402-1, 402-2. has a direction in which it occurs.

Here, details of the control device 13 will be explained.
The control device 13 controls the aircraft 1 as follows when the operating state of the aircraft 1 is the takeoff and landing state.
In each of the four quadrant regions, the control device 13 controls the first rotary blades 402-1 and 402-2, which are located in the quadrant region and have the same rotation direction, so that they have the same rotation speed. do.

Therefore, in this example, the control device 13 controls the rotor module 40-q, which is located in the p-th (p represents an integer from 1 to 4) quadrant region and whose rotation direction is counterclockwise. (q represents an integer of 4p-3), the first rotor 402-1 of the rotor module 40-r (r represents an integer of 4p-2), The first rotor blade 402-1 of the rotor module 40-s (s represents an integer of 4p-1) and the first rotor blade 402-1 of the rotor module 40-t (t represents an integer of 4p). The rotary blade 402-2 is controlled to have the u-th (u represents an integer of 2p-1) rotation speed.

The control device 13 also controls the first rotor 402-2 of the rotor module 40-q and the first rotor module 40-r, which are located in the p-th quadrant region and whose rotation direction is clockwise. The rotor blade 402-1, the first rotor blade 402-2 of the rotor module 40-s, and the first rotor blade 402-1 of the rotor module 40-t are connected to the v-th (v represents an integer of 2p). .) Control to have the rotation speed.

In this example, the control device 13 controls the magnitude of the yaw clockwise torque generated by the 16 pairs of first rotary blades 402-1 and 402-2 included in the 16 rotary blade modules 40-1 to 40-16, respectively. , the magnitude of the yaw counterclockwise torque, and the magnitude of the yaw counterclockwise torque are determined.
In this example, the control device 13 causes at least one first rotor blade of the 16 pairs of first rotor blades 402-1 and 402-2 included in the 16 rotor modules 40-1 to 40-16 to operate. The above-mentioned control is performed even when the vehicle is stopped.

(motion)
Next, the operation of the aircraft 1 will be explained.
First, a passenger enters the interior space of the fuselage 10 from the left side of the aircraft 1, passing between the front fixed wing 20-1 and the rear fixed wing 20-3. Note that the passenger may board the interior space of the fuselage 10 from the right side of the aircraft 1, passing between the front fixed wing 20-2 and the rear fixed wing 20-4.

Next, the aircraft 1 rotates each of the 16 pairs of first rotary blades 402-1 and 402-2 included in the 16 rotary blade modules 40-1 to 40-16. This generates a thrust force that propels the aircraft 1 upward. As a result, the aircraft 1 takes off by flying vertically upward (in other words, ascending).

Thereafter, the aircraft 1 drives the second rotor 12 to rotate. This generates a thrust that propels the aircraft 1 forward. As a result, the pair of front fixed wings 20-1, 20-2 and the pair of rear fixed wings 20-3, 20-4 generate lift. Next, the aircraft 1 stops the rotational drive of each of the 16 pairs of first rotary wings 402-1 and 402-2 included in the 16 rotary wing modules 40-1 to 40-16. As a result, the aircraft 1 flies horizontally (in other words, cruises).

Thereafter, the aircraft 1 rotates each of the 16 pairs of first rotary wings 402-1 and 402-2 included in the 16 rotary wing modules 40-1 to 40-16. This generates a thrust force that propels the aircraft 1 upward. Next, the aircraft 1 stops the rotational drive of the second rotor 12. As a result, the aircraft 1 lands by flying vertically downward (in other words, descending).

Next, when the operating state of the aircraft 1 is a takeoff and landing state, at least one of the 16 pairs of first rotary wings 402-1 and 402-2 provided in the 16 rotary wing modules 40-1 to 40-16, respectively. A case where the first rotor blade stops operating will be explained.

In this case, the aircraft 1 uses the first rotor blade 402 that has stopped operating among the 16 pairs of first rotor blades 402-1 and 402-2 included in the 16 rotor modules 40-1 to 40-16. By increasing the rotational speed of at least some of the first rotor blades 402-1, 402-2 other than -1, 402-2, the upward thrust lost due to the stoppage of operation is compensated for. At this time, the aircraft 1 controls the rotational speed of each of the first rotary blades 402-1 and 402-2 so that the magnitude of the clockwise yaw torque and the magnitude of the counterclockwise yaw torque match each other. Thereby, the aircraft 1 can continue vertical flight.

As described above, the aircraft 1 of the first embodiment performs vertical takeoff and landing. The aircraft 1 includes a fuselage 10, at least one pair of fixed wings 20-1 to 20-4 extending from the fuselage 10 in the left-right direction, and a plurality of first rotary wings 402-1, 402-2. Be prepared.

The plurality of first rotary wings 402-1 and 402-2 are supported by at least one pair of fixed wings 20-1 to 20-4 and are rotationally driven to generate thrust that propels the aircraft 1 vertically upward. do.
The plurality of first rotary wings 402-1, 402-2 are connected to a first plane P1 that is orthogonal to the left-right direction of the aircraft 1 and passes through the center of gravity CG of the aircraft 1, and a first plane P1 that is orthogonal to the longitudinal direction of the aircraft 1 and passes through the center of gravity CG of the aircraft 1. At least two quadrants are located in each of the four quadrant regions defined by the second plane P2 passing through the CG.

In each of the four quadrant areas, at least one first rotor blade 402-1, 402-2 of the at least two first rotor blades 402-1, 402-2 located in the quadrant area is rotated. The central axis CA is not inclined with respect to the vertical direction, and the other first rotor blades 402-1, 402-2 of the at least two first rotor blades 402-1, 402-2 are rotated. The central axis CA is inclined with respect to the vertical direction.

According to this, in each quadrant region, there are first rotary blades 402-1 and 402-2 whose central axis of rotation CA is not inclined with respect to the vertical direction. In the first rotary blades 402-1 and 402-2, only the upward thrust changes as the rotation speed changes. Thereby, the upward thrust can be adjusted independently of the torque in the yaw direction in each quadrant region. As a result, it is possible to suppress the rotational speed of the first rotary blades 402-1, 402-2 from becoming excessively high.

Furthermore, in the aircraft 1 of the first embodiment, in each of the four quadrant regions, the center of gravity CG of the aircraft 1 among the at least two first rotary wings 402-1, 402-2 located in the quadrant region. The center axis of rotation CA of the first rotary blades 402-1 and 402-2 having the longest distance from the center axis CA is not inclined with respect to the vertical direction.

By the way, when the central axis of rotation of the first rotor, which has the longest distance from the center of gravity of the aircraft, is inclined with respect to the vertical direction, the torque generated by the first rotor in the yaw direction tends to increase. . Therefore, when the first rotary blade stops operating, the torque in the yaw direction that is lost due to the stoppage of operation tends to increase. Therefore, in this case, there was a risk that the attitude of the aircraft would change relatively significantly in the yaw direction.

On the other hand, according to the aircraft 1, the central axes CA of rotation of the first rotary wings 402-1, 402-2, which have the longest distance from the center of gravity CG of the aircraft 1, are not inclined with respect to the vertical direction. Therefore, even if the first rotary blades 402-1, 402-2 stop operating, it is possible to suppress the torque in the yaw direction that is lost due to the stoppage of the operation. As a result, fluctuations in the attitude of the aircraft 1 in the yaw direction can be suppressed.

Furthermore, in the aircraft 1 of the first embodiment, in each of the four quadrant regions, the center of gravity CG of the aircraft 1 among the at least two first rotary wings 402-1, 402-2 located in the quadrant region. The center axis of rotation CA of the first rotary blades 402-1 and 402-2 having the shortest distance from the center axis CA is not inclined with respect to the vertical direction.

By the way, if the central axis of rotation of the first rotor, which has the shortest distance from the center of gravity of the aircraft, is inclined with respect to the vertical direction, unless it is tilted relatively largely, the yaw generated by the first rotor should be The torque in the direction cannot be made large enough. However, the greater the extent to which the central axis of rotation of the first rotor blade is inclined with respect to the vertical direction, the smaller the upward thrust generated by the first rotor blade becomes.

On the other hand, according to the aircraft 1, when the central axis CA of rotation of the first rotor blades 402-1, 402-2, which has the shortest distance from the center of gravity CG of the aircraft 1, is inclined with respect to the vertical direction. In comparison, the upward thrust generated by the plurality of first rotary blades 402-1 and 402-2 can be increased.

Further, in the aircraft 1 of the first embodiment, at least one pair of fixed wings 20-1 to 20-4 includes two pairs of fixed wings 20-1 to 20-4 whose positions in the longitudinal direction are different from each other. The two pairs of fixed wings 20-1 to 20-4 are located in four quadrant regions, respectively.

According to this, the plurality of first rotary blades 402-1, 402-2 can be distributed in the longitudinal direction of the aircraft 1. Thereby, when the aircraft 1 flies in the vertical direction, it is possible to suppress the attitude of the aircraft 1 from changing.

Note that in the aircraft 1 according to the modification of the first embodiment, in each of the four quadrant regions, the central axis of rotation of the first rotary blades 402-1 and 402-2 located in the quadrant region is The number of first rotary blades 402-1, 402-2 that are not inclined with respect to the vertical direction may be one, or three to seven.

Further, the aircraft 1 according to the modification of the first embodiment may be configured such that the second rotary blade 12 is rotationally driven by the power generated by the internal combustion engine instead of or in addition to the electric power. good. Further, the aircraft 1 according to the modification of the first embodiment may include a jet engine instead of or in addition to the second rotor 12.

Further, in the aircraft 1 according to the modification of the first embodiment, at least one of the plurality of first rotary blades 402-1 and 402-2 is used instead of the second rotary blade 12 or in addition to the second rotary blade 12. The portion may generate a thrust force that propels the aircraft 1 forward. In this case, at least a portion of the plurality of first rotary blades 402-1 and 402-2 may be configured to be able to change the direction of the central axis of rotation.

Further, the aircraft 1 according to the modification of the first embodiment may include a power generation device and may be configured to charge a storage battery with electric power generated by the power generation device.

<First modification of the first embodiment>
Next, an aircraft according to a first modification of the first embodiment will be described. The aircraft of the first modification of the first embodiment is different from the aircraft of the first embodiment in that the central axis of rotation of the first rotor, which has the shortest distance from the center of gravity of the aircraft in each quadrant region, is vertical. They differ in that they are inclined with respect to the direction. The differences will be mainly explained below. In the description of the first modification of the first embodiment, the same reference numerals as those used in the first embodiment indicate the same or substantially similar parts.

As shown in FIG. 6, in the aircraft 1A of the first modification of the first embodiment, in each of the four quadrant regions, four pairs of first rotary blades 402-1, 402-2, the first rotor blade having the shortest distance from the center of gravity CG of the aircraft 1A (in this example, the first rotor blade 402-2 of the rotor module 40-4, the rotor module 40- 5, the first rotor 402-1 of the rotor module 40-12, and the first rotor 402-1 of the rotor module 40-13 have their central axes of rotation vertical. Tilt with respect to the direction.

In this example, the first rotor 402-2 of the rotor module 40-4 and the first rotor 402-2 of the rotor module 40-5 have central axes of rotation with respect to the vertical direction of the aircraft 1A. tilt forward. Further, the first rotor blade 402-1 of the rotor module 40-12 and the first rotor blade 402-1 of the rotor module 40-13 have central axes of rotation at the rear of the aircraft 1A with respect to the vertical direction. tilt to.

The aircraft 1A of the first modification of the first embodiment can also provide the same operations and effects as the aircraft 1 of the first embodiment.

<Second modification of the first embodiment>
Next, an aircraft according to a second modification of the first embodiment will be described. The aircraft of the second modification of the first embodiment is different from the aircraft of the first embodiment in that the central axis of rotation of the first rotor, which has the longest distance from the center of gravity of the aircraft in each quadrant region, is vertical. They differ in that they are inclined with respect to the direction. The differences will be mainly explained below. In the description of the second modification of the first embodiment, the same reference numerals as those used in the first embodiment indicate the same or substantially similar parts.

As shown in FIG. 7, in the aircraft 1B of the second modification of the first embodiment, in each of the four quadrant regions, four pairs of first rotary wings 402-1, 402-2, the first rotor blade having the longest distance from the center of gravity CG of the aircraft 1B (in this example, the first rotor blade 402-1 of the rotor module 40-1, the rotor module 40- 8, the first rotor 402-2 of the rotor module 40-9, and the first rotor 402-2 of the rotor module 40-16 have their central axes of rotation vertical. Tilt with respect to the direction.

In this example, the first rotor 402-1 of the rotor module 40-1 and the first rotor 402-2 of the rotor module 40-9 have central axes of rotation with respect to the vertical direction of the aircraft 1B. tilt to the right. Further, the first rotor blade 402-1 of the rotor module 40-8 and the first rotor blade 402-2 of the rotor module 40-16 have their central axes of rotation to the left of the aircraft 1B with respect to the vertical direction. tilt in one direction.

The aircraft 1B of the second modification of the first embodiment can also provide the same operations and effects as the aircraft 1 of the first embodiment.

<Third modification of first embodiment>
Next, an aircraft according to a third modification of the first embodiment will be described. The aircraft of the third modification of the first embodiment is different from the aircraft of the first embodiment in that the direction of inclination is changed so that the rotation center vector does not have a component toward the center of the rotary wing module. There are differences in The differences will be mainly explained below. In addition, in the description of the third modification of the first embodiment, the same reference numerals as those used in the first embodiment indicate the same or substantially similar parts.

As shown in FIG. 8, in the aircraft 1C of the third modification of the first embodiment, the first rotor 402-2 of the rotor module 40-2 and the first rotation of the rotor module 40-10 The center axis of rotation of the wing 402-1 is inclined to the right of the aircraft 1C with respect to the vertical direction. Furthermore, the first rotor 402-2 of the rotor module 40-7 and the first rotor 402-1 of the rotor module 40-15 have center axes of rotation to the left of the aircraft 1C with respect to the vertical direction. tilt in one direction.

The aircraft 1C of the third modification of the first embodiment can also provide the same operations and effects as the aircraft 1 of the first embodiment.
By the way, when the rotational center vector CV has a component toward the center of the rotary wing modules 40-1 to 40-16 in the longitudinal direction of the aircraft 1C, the first rotary wings 402-1 and 402-2 are connected to the support body 401. In order to avoid contact, there is a possibility that the angle at which the central axis of rotation is inclined with respect to the vertical direction cannot be made sufficiently large.

On the other hand, according to the aircraft 1C, the rotation center vector CV of both the first rotor blades 402-1 and 402-2 is at the center of the rotor module modules 40-1 to 40-16 in the longitudinal direction of the aircraft 1C. It does not have any components directed towards the part. Therefore, the angle at which the central axis of rotation is inclined with respect to the vertical direction can be made sufficiently large.

<Fourth modification of the first embodiment>
Next, an aircraft according to a fourth modification of the first embodiment will be described. The aircraft of the fourth modification of the first embodiment differs from the aircraft of the first embodiment in the number of rotary wing modules that the aircraft includes. The differences will be mainly explained below. In the description of the fourth modification of the first embodiment, the same reference numerals as those used in the first embodiment indicate the same or substantially similar parts.

As shown in FIG. 9, the aircraft 1D of the fourth modification of the first embodiment includes, instead of the 16 rotary wing modules 40-1 to 40-16 included in the aircraft 1 of the first embodiment, It includes eight rotary blade modules 40-1 to 40-8.

In this example, two rotary wing modules 40-1 and 40-2 are fixed to the front fixed wing 20-1. Two rotary wing modules 40-3 and 40-4 are fixed to the front fixed wing 20-2. Two rotary wing modules 40-5, 40-6 are fixed to the rear fixed wing 20-3. Two rotary wing modules 40-7 and 40-8 are fixed to the rear fixed wing 20-4.

In this example, in each of the four quadrant areas, the position with the longest distance from the center of gravity CG of the aircraft 1D of the two pairs of first rotary wings 402-1 and 402-2 located in the quadrant area is selected. (in this example, the first rotor blade 402-1 of the rotor module 40-1, the first rotor blade 402-1 of the rotor module 40-4, and the first rotor blade of the rotor module 40-5) The central axis of rotation of the blade 402-2 and the first rotary blade 402-2 of the rotary blade module 40-8 is not inclined with respect to the vertical direction.

In this example, in each of the four quadrant areas, of the two pairs of first rotary wings 402-1, 402-2 located in the quadrant area, the position having the shortest distance from the center of gravity CG of the aircraft 1D is selected. (in this example, the first rotor blade 402-2 of the rotor module 40-2, the first rotor blade 402-2 of the rotor module 40-3, and the first rotor blade of the rotor module 40-6) The central axis of rotation of the blade 402-1 and the first rotary blade 402-1 of the rotary blade module 40-7 is not inclined with respect to the vertical direction.

In this example, the first rotor 402-1 of the rotor module 40-2 and the first rotor 402-2 of the rotor module 40-6 have central axes of rotation relative to the vertical direction of the aircraft 1D. tilt to the left. Further, the first rotary blade 402-1 of the rotary blade module 40-3 and the first rotary blade 402-2 of the rotary blade module 40-7 have center axes of rotation to the right of the aircraft 1D with respect to the vertical direction. tilt in one direction.

In this example, the first rotor 402-2 of the rotor module 40-1 and the first rotor 402-2 of the rotor module 40-4 have central axes of rotation relative to the vertical direction of the aircraft 1D. tilt backwards. Further, the first rotor blade 402-1 of the rotor module 40-5 and the first rotor blade 402-1 of the rotor module 40-8 have central axes of rotation in front of the aircraft 1D with respect to the vertical direction. tilt to.

The aircraft 1D of the fourth modification of the first embodiment can also provide the same operations and effects as the aircraft 1 of the first embodiment.
In addition, in each of the four quadrant areas, of the two pairs of first rotary blades 402-1, 402-2 located in the quadrant area, the first rotor blade having the longest distance from the center of gravity CG of the aircraft 1D is selected. The center axis of rotation of the first rotor blades 402-1 and 402-2 may be inclined with respect to the vertical direction.
In addition, in each of the four quadrant areas, of the two pairs of first rotary blades 402-1 and 402-2 located in the quadrant area, the first rotor blade having the shortest distance from the center of gravity CG of the aircraft 1D is selected. The center axis of rotation of the first rotor blades 402-1 and 402-2 may be inclined with respect to the vertical direction.

<Second embodiment>
Next, an aircraft according to a second embodiment will be described. The aircraft of the second embodiment differs from the aircraft of the first embodiment in that the direction of inclination is changed so that the rotation center vector does not have a component in the rearward direction of the aircraft. The differences will be mainly explained below. In the description of the second embodiment, the same reference numerals as those used in the first embodiment indicate the same or substantially similar elements.

As shown in FIG. 10, in the aircraft 1E of the second embodiment, the first rotor 402-2 of the rotor module 40-1, the first rotor 402-2 of the rotor module 40-3, and The central axis of rotation of the first rotary wing 402-1 of the rotary wing module 40-10 is inclined to the left of the aircraft 1E with respect to the vertical direction. In addition, the first rotor 402-2 of the rotor module 40-6, the first rotor 402-2 of the rotor module 40-8, and the first rotor 402-1 of the rotor module 40-15, The central axis of rotation is inclined to the right of the aircraft 1E with respect to the vertical direction.

With such a configuration, the number of first rotary wings 402-1 and 402-2 (six in this example) whose rotational center vector CV has a component in the forward direction of the aircraft 1E is smaller than the rotational center vector CV. The number is greater than the number of first rotary blades 402-1 and 402-2 (zero in this example) whose CV has a component in the rearward direction of the aircraft 1E. Therefore, the sum of the rotation center vectors CV for all the first rotary wings 402-1, 402-2 included in the aircraft 1E has a component in the forward direction of the aircraft 1E.

In this example, when the operating state is takeoff and landing, the aircraft 1E flies with the nose raised (in other words, pitched up) than when the operating state is the cruising state. In other words, when the operating state of the aircraft 1E is takeoff and landing, the position of the forward end of the aircraft 1E with respect to the center of gravity CG of the aircraft 1E is vertically higher than when the operating state is the cruising state. , tilted with respect to the horizontal plane.

By the way, when the operating state transitions from a state in which the aircraft flies vertically upward (in other words, takeoff state) to a state in which the aircraft flies horizontally (in other words, cruising state), the forward direction of the aircraft changes. It takes a relatively long time to reach high speed. In other words, there was a problem in that the operating state could not be quickly shifted from the takeoff state to the cruising state.

On the other hand, according to the aircraft 1E, the plurality of first rotary wings 402-1, 402-2 can generate thrust that propels the aircraft 1E forward. This allows the forward speed of the aircraft 1E to be quickly increased when the operating state shifts from the takeoff state to the cruising state. As a result, the operational state can be quickly shifted from the takeoff state to the cruise state.

The aircraft 1E of the second embodiment can also provide the same functions and effects as the aircraft 1 of the first embodiment.
Furthermore, in the aircraft 1E of the second embodiment, the sum of the rotation center vectors CV for the plurality of first rotary wings 402-1, 402-2 has a component in the forward direction of the aircraft 1E.

According to this, when the operating state shifts from the takeoff state to the cruising state, the forward speed of the aircraft 1E can be quickly increased. As a result, the operational state can be quickly shifted from the takeoff state to the cruise state.

<First modification of the second embodiment>
Next, an aircraft according to a first modification of the second embodiment will be described. The aircraft of the first modification of the second embodiment is different from the aircraft of the second embodiment in that the central axis of rotation of the first rotor, which has the shortest distance from the center of gravity of the aircraft in each quadrant region, is vertical. They differ in that they are inclined with respect to the direction. The differences will be mainly explained below. Note that in the description of the first modification of the second embodiment, the same reference numerals as those used in the second embodiment refer to the same or substantially similar parts.

As shown in FIG. 11, in the aircraft 1F of the first modification of the second embodiment, in each of the four quadrant regions, four pairs of first rotary wings 402-1, 402-2, the first rotor blade having the shortest distance from the center of gravity CG of the aircraft 1F (in this example, the first rotor blade 402-2 of the rotor module 40-4, the rotor module 40- 5, the first rotor 402-1 of the rotor module 40-12, and the first rotor 402-1 of the rotor module 40-13 have their central axes of rotation vertical. Tilt with respect to the direction.

In this example, the first rotor 402-2 of the rotor module 40-4 and the first rotor 402-2 of the rotor module 40-5 have their central axes of rotation relative to the vertical direction on the aircraft 1F. tilt forward. In addition, the first rotor blade 402-1 of the rotor module 40-12 and the first rotor blade 402-1 of the rotor module 40-13 have central axes of rotation at the rear of the aircraft 1F with respect to the vertical direction. tilt to.

The aircraft 1F of the first modification of the second embodiment can also provide the same operations and effects as the aircraft 1E of the second embodiment.

<Second modification of second embodiment>
Next, an aircraft according to a second modification of the second embodiment will be described. The aircraft of the second modification of the second embodiment differs from the aircraft of the second embodiment in that the central axis of rotation of the first rotor, which has the longest distance from the center of gravity of the aircraft in each quadrant region, is vertical. They differ in that they are inclined with respect to the direction. The differences will be mainly explained below. In the description of the second modification of the second embodiment, the same reference numerals as those used in the second embodiment indicate the same or substantially similar parts.

As shown in FIG. 12, in the aircraft 1G of the second modification of the second embodiment, in each of the four quadrant regions, four pairs of first rotary wings 402-1, 402-2, the first rotor blade having the longest distance from the center of gravity CG of the aircraft 1G (in this example, the first rotor blade 402-1 of the rotor module 40-1, the rotor module 40- 8, the first rotor 402-2 of the rotor module 40-9, and the first rotor 402-2 of the rotor module 40-16 have their central axes of rotation vertical. Tilt with respect to the direction.

In this example, the first rotor 402-1 of the rotor module 40-1 and the first rotor 402-2 of the rotor module 40-9 have central axes of rotation with respect to the vertical direction of the aircraft 1G. tilt to the right. Further, the first rotor blade 402-1 of the rotor module 40-8 and the first rotor blade 402-2 of the rotor module 40-16 have their central axes of rotation to the left of the aircraft 1G with respect to the vertical direction. tilt in one direction.

The aircraft 1G of the second modification of the second embodiment can also provide the same functions and effects as the aircraft 1E of the second embodiment.

<Third modification of second embodiment>
Next, an aircraft according to a third modification of the second embodiment will be described. The aircraft of the third modification of the second embodiment differs from the aircraft of the second embodiment in that the central axis of rotation of all the first rotors is inclined with respect to the vertical direction. The differences will be mainly explained below. In addition, in the description of the third modification of the second embodiment, the same reference numerals as those used in the second embodiment refer to the same or substantially similar parts.

As shown in FIG. 13, in the aircraft 1H of the third modification of the second embodiment, in each of the four quadrant regions, four pairs of first rotor blades 402-1, 402-2, the first rotor blade having the shortest distance from the center of gravity CG of the aircraft 1H (in this example, the first rotor blade 402-2 of the rotor module 40-4, the rotor module 40- 5, the first rotor 402-1 of the rotor module 40-12, and the first rotor 402-1 of the rotor module 40-13 have their central axes of rotation vertical. Tilt with respect to the direction.

In this example, the first rotor 402-2 of the rotor module 40-4 and the first rotor 402-2 of the rotor module 40-5 have central axes of rotation relative to the vertical direction of the aircraft 1H. tilt forward. In addition, the first rotor 402-1 of the rotor module 40-12 and the first rotor 402-1 of the rotor module 40-13 have central axes of rotation at the rear of the aircraft 1H with respect to the vertical direction. tilt to.

Furthermore, in the aircraft 1H of the third modification of the second embodiment, in each of the four quadrant regions, of the four pairs of first rotary blades 402-1 and 402-2 located in the quadrant region, The first rotor blade having the longest distance from the center of gravity CG of the aircraft 1H (in this example, the first rotor blade 402-1 of the rotor module 40-1, the first rotor blade 402 of the rotor module 40-8) -1, the first rotor blade 402-2 of the rotor module 40-9, and the first rotor blade 402-2 of the rotor module 40-16) have central axes of rotation inclined with respect to the vertical direction.

In this example, the first rotor 402-1 of the rotor module 40-1 and the first rotor 402-2 of the rotor module 40-9 have central axes of rotation relative to the vertical direction of the aircraft 1H. tilt to the right. Further, the first rotor 402-1 of the rotor module 40-8 and the first rotor 402-2 of the rotor module 40-16 have central axes of rotation to the left of the aircraft 1H with respect to the vertical direction. tilt in one direction.

The aircraft 1H of the third modification of the second embodiment can also provide the same functions and effects as the aircraft 1E of the second embodiment.

<Fourth modification of the second embodiment>
Next, an aircraft according to a fourth modification of the second embodiment will be described. The aircraft of the fourth modification of the second embodiment differs from the aircraft of the second embodiment in the number of first rotary wings whose rotational center vector has a component in the forward direction of the aircraft. The differences will be mainly explained below. In the description of the fourth modification of the second embodiment, the same reference numerals as those used in the second embodiment indicate the same or substantially similar parts.

As shown in FIG. 14, in the aircraft 1I of the fourth modification of the second embodiment, the first rotor 402-1 of the rotor module 40-3 and the first rotor 402 of the rotor module 40-6. -1, the first rotor 402-2 of the rotor module 40-10, the first rotor 402-2 of the rotor module 40-12, the first rotor 402-2 of the rotor module 40-13, and The first rotary wing 402-2 of the rotary wing module 40-15 has a central axis of rotation inclined toward the front of the aircraft 1I with respect to the vertical direction.

With such a configuration, the number of first rotary wings 402-1, 402-2 (12 in this example) whose rotation center vector CV has a component in the forward direction of the aircraft 1I is smaller than the rotation center vector CV. The number is greater than the number of first rotary blades 402-1 and 402-2 (0 in this example) whose CV has a component in the rearward direction of the aircraft 1I. Therefore, the sum of the rotation center vectors CV for all the first rotary wings 402-1, 402-2 included in the aircraft 1I has a component in the forward direction of the aircraft 1I.

The aircraft 1I of the fourth modification of the second embodiment can also provide the same operations and effects as the aircraft 1E of the second embodiment.

Furthermore, according to the aircraft 1I of the fourth modification of the second embodiment, the first rotor blade 402-1 has a rotation center vector CV having a component in the forward direction of the aircraft 1I, compared to the aircraft 1E of the second embodiment. The difference between the number of rotary blades 402-2 and the number of first rotary blades 402-1 and 402-2 whose rotational center vector CV has a component in the rearward direction of the aircraft 1I can be increased.

As a result, the forward component of the aircraft 1I, which is the sum of the rotation center vectors CV for all the first rotary wings 402-1 and 402-2 included in the aircraft 1I, can be increased. Therefore, according to the aircraft 1I, it is possible to increase the thrust generated by the plurality of first rotary wings 402-1, 402-2, which propels the aircraft 1I forward.

Note that the present invention is not limited to the embodiments described above. For example, various changes that can be understood by those skilled in the art may be made to the embodiments described above without departing from the spirit of the present invention.

1, 1A, 1B, 1C, 1D, 1E, 1F, 1G, 1H, 1I Aircraft 10 Fuselage 11-1, 11-2 Tail 12 Second rotor 13 Control device 14 Second control signal line 20-1, 20- 2 Front fixed wings 20-3, 20-4 Rear fixed wings 40-1 to 40-16 Rotary wing module 401 Support body 402-1, 402-2 First rotary wing 403-1, 403-2 Electric motor 404-1, 404-2 Speed controller 405-1, 405-2 Controller 406-1, 406-2 First control signal line CA Center axis CG Center of gravity CV Rotation center vector P1 First plane P2 Second plane

Claims (9)

An aircraft whose operational state switches between a takeoff and landing state in which it flies in a vertical direction and a cruising state in which it flies in a horizontal direction,
The torso and
at least one pair of fixed wings extending in the left-right direction from the fuselage;
a plurality of first rotary wings that are supported by the at least one pair of fixed wings and are rotationally driven to generate a thrust that propels the aircraft vertically upward;
Equipped with
The plurality of first rotary wings have a first plane that is orthogonal to the left-right direction of the aircraft and passes through the center of gravity of the aircraft, and a second plane that is orthogonal to the longitudinal direction of the aircraft and passes through the center of gravity of the aircraft. At least two are located in each of the four divided quadrant areas,
When the operating state is the take-off and landing state, in each of the four quadrant regions, at least one first rotor blade of the at least two first rotor blades located in the quadrant region: An aircraft in which the central axis of rotation is not inclined with respect to the vertical direction, and the central axis of rotation of the other first rotary blade of the at least two first rotary blades is inclined with respect to the vertical direction. The aircraft according to claim 1,
In each of the four quadrant regions, of the at least two first rotor blades located in the quadrant region, the first rotor blade having the longest distance from the center of gravity of the aircraft has a center of rotation. An aircraft whose axis is not tilted relative to the vertical direction. The aircraft according to claim 1 or claim 2,
In each of the four quadrant regions, of the at least two first rotor blades located in the quadrant region, the first rotor blade having the shortest distance from the center of gravity of the aircraft has a center of rotation. An aircraft whose axis is not tilted relative to the vertical direction. The aircraft according to any one of claims 1 to 3,
The sum of rotation center vectors for the plurality of first rotary blades has a component in the forward direction of the aircraft,
The rotation center vector is a unit vector having a direction along the rotation center axis of the first rotor and having a vertically upward component. The aircraft according to claim 4,
The plurality of first rotary blades are such that the number of first rotary blades whose rotation center vector has a component in the forward direction of the aircraft is greater than the number of first rotor blades whose rotation center vector has a component in the rear direction of the aircraft. More aircraft than numbers. The aircraft according to claim 5,
The plurality of first rotary blades is an aircraft in which the number of first rotary blades in which the rotation center vector has a component in the rearward direction of the aircraft is zero. The aircraft according to any one of claims 1 to 6,
The at least one pair of fixed wings includes two pairs of fixed wings having different positions in the longitudinal direction,
The two pairs of fixed wings are located in the four quadrant regions, respectively. The aircraft according to any one of claims 1 to 7,
In each of the four quadrant regions, the direction of rotation of at least one first rotor blade of the at least two first rotor blades located in the quadrant region is the first rotation direction, and The other first rotary blade of the at least two first rotary blades has a second rotational direction that is opposite to the first rotational direction,
In each of the four quadrant regions, the aircraft includes a control device that controls the first rotor blades located in the four quadrant regions and having the same direction of rotation to have the same rotation speed. The aircraft according to any one of claims 1 to 8,
An aircraft comprising a second rotary wing that is rotatably driven to generate thrust that propels the aircraft forward .

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