JPWO2020035900A1 - Rotorcraft - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flying body capable of improving flight efficiency. A center C of a connecting portion 16 coincides with a center U of lift generated in a body of a rotary wing aircraft 10. The center C of the connecting portion 16 is an action point of gravity of the support rod 21 and the first mounting portion with respect to the connecting portion 16. The center U of lift is the point of action of lift on the rotary wing machine 10, and is the center of rotation at the connecting portion 16. Since the center U of the lift generated in the rotary wing machine 10 is located at the center C of the connecting portion as described above, even when the body of the rotary wing machine 10 is tilted, the center C of the connecting portion is centered. As the support rod 21 and the first mounting portion rotate, the rotational moment due to the heavy object such as the camera 28 does not occur around the center U of the lift. Accordingly, when a rotary wing machine having a plurality of rotary blades travels in the horizontal direction, it is possible to reduce the difference in rotational speed between the rotary blades in the front and rear of the traveling direction as compared to the conventional case. [Selection diagram] Figure 2

Description

The present invention relates to a rotorcraft having a plurality of rotor blades.

For example, in various events such as sports and concerts, or in surveys of building equipment such as buildings and condominiums, aerial photography using a rotary wing machine called a drone or a multicopter may be performed. This type of rotary wing aircraft is being applied to fields such as luggage transportation as well as aerial photography. In Patent Document 1, a rotary wing machine having a plurality of rotary blades, a support portion installed vertically downward from a central portion of the rotary blade machine, and a mounting portion installed at an end portion vertically below the support portion, An aerial photography rotorcraft system consisting of a mooring rope connected to the bottom of the mounting part, one end of the mooring rope connected to the vertically lower end of the mounting part, and the other end of the mooring rope locked to the ground. It is disclosed.

JP, 2013-79043, A

The rotary wing aircraft 1 rotates in an attitude as shown in FIG. 13 to rotate each rotary blade P at the same rotation speed (to be exact, the rotation speed per unit time; the same applies below), and floats upward. 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 (the numbers in parentheses in the figure, the same applies below). When the rotor blade 1 reaches a desired altitude, the rotor blade 1 is stopped in the air (hovering) by lowering the rotation speed so that the lift force of each rotor blade P and the gravity applied to the body are balanced. At this time, the rotation speed level is set to 5, for example. When moving in the horizontal direction, the rotary wing aircraft 1 lowers the rotation speed of the rotary blade P that is forward in the traveling direction (for example, rotation speed level 3), and rotates the rotary blade P that is rearward in the traveling direction. Increase the number of revolutions (for example, the number of revolutions 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 posture in which it is inclined forward and downward toward the traveling direction. When the body of the rotary wing aircraft 1 is tilted, a rotation moment M caused by a heavy object G such as a camera is generated around the center U of the lift force. It is necessary to increase the number of rotations of the rotor blade P located behind the rotor blade P located ahead.

In Patent Document 1 (particularly FIGS. 7 and 8), by providing the joint member R, it is possible to adjust so that the heavy object G is positioned vertically below the rotary wing machine 1 regardless of the posture of the rotary wing machine 1. Is disclosed. However, even if such a mechanism is adopted, as shown in FIG. 14, since the joint member R that supports the heavy object G and the center U of the lift force do not completely coincide with each other, the center of the lift force still remains. A considerable amount of rotation moment M around U is generated. Therefore, for example, the rotational speed level of the rotary blade P in the forward direction is set to 4 and the rotational speed level of the rotary blade P in the rearward direction is set to 6 so that the rotational speeds of the rotary blades are slightly different. There must be.

In this way, when the rotating blades 1 travel in the horizontal direction so that the rotational speeds of the front and rear rotary blades P are different from each other, the rotary blades in the rearward direction of travel in the horizontal direction are moved. Since the output of P must be maintained in a high state, various problems such as a failure due to heat generation of the motor may occur.

Therefore, when the rotary wing machine having a plurality of rotary blades travels in a direction including the horizontal direction, an object of the present invention is to reduce the difference in rotational speed between the rotary blades in the front and rear of the traveling direction as compared with the conventional case. And

According to the present invention, a rotary wing aircraft comprising a flying part, a main body part, and a connecting part that connects the flying part and the main body part so as to be swingable within a predetermined range,
The flight unit includes a plurality of rotor blades and an arm unit that supports the plurality of rotor blades,
The main body portion 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 connecting portion includes a first connecting portion that allows the main body portion to swing around a horizontal axis that is orthogonal to the traveling direction, and a predetermined direction with the traveling direction when viewed along the horizontal axis that is orthogonal to the horizontal axis. A second connecting portion that allows the support rod to swing around an oblique axis that forms an elevation angle,
A rotorcraft is obtained.

1 is a perspective view showing a configuration of a rotary wing machine according to an embodiment of the present invention. The side view of the rotary wing machine which concerns on the same embodiment. The top view of the rotary wing machine which concerns on the same embodiment. The conceptual diagram explaining the center of lift. The side view which shows the attitude change of the rotary wing machine which concerns on the same embodiment. The conceptual diagram explaining the dynamical relationship in the rotary wing machine which concerns on the same embodiment. The side view of the rotary wing machine which concerns on the modification of this invention. The side view which shows the attitude change of the rotary wing machine which concerns on the modification. The perspective view which shows the structure of the rotary wing machine which concerns on another modification of this invention. The perspective view of the rotary wing machine which concerns on another modification of this invention. The top view of the rotary wing machine which concerns on the modification. The side view of the rotary wing machine which concerns on the modification. The side view of the conventional rotary wing machine. The side view when a conventional rotary wing machine horizontally moves. The side view when the conventional rotary wing machine which has a joint member moves horizontally. It is a figure which shows the rotary wing machine by the 2nd Embodiment of this invention. It is another figure which shows the rotary wing machine by the 2nd Embodiment of this invention. It is another figure which shows the rotary wing machine by the 2nd Embodiment of this invention. It is a modification showing the rotary wing machine according to the second embodiment of the present invention.

The rotary wing machine according to the present invention has the following configuration.
[Configuration 1]
A rotary wing aircraft comprising a flying part, a main body part, and a connecting part that connects the flying part and the main body part so that they can swing in a predetermined range,
The flight unit includes a plurality of rotor blades and an arm unit that supports the plurality of rotor blades,
The main body portion 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 connecting portion includes a first connecting portion that allows the main body portion to swing around a horizontal axis that is orthogonal to the traveling direction, and a predetermined direction with the traveling direction when viewed along the horizontal axis that is orthogonal to the horizontal axis. A second connecting portion that allows the main body portion to swing around an oblique axis forming an elevation angle;
Rotorcraft.
[Configuration 1]
A rotary wing machine according to configuration 1,
The rotary wing machine is characterized in that an intersection of the horizontal axis and the oblique axis is located at a substantially central position of a lift force generated in the airframe by the rotation of the plurality of rotary blades.
[Configuration 2]
A rotary wing machine according to configuration 1,
A rotary wing machine, wherein an intersection of the horizontal axis and the oblique axis is located at a center of gravity of the main body.
[Configuration 3]
The rotary wing aircraft according to any one of Configuration 1 to 3,
The position of the first mounting portion is displaced rearward from the main body portion,
The position of the second mounting portion is displaced forward from the main body portion,
Rotorcraft.
[Configuration 4]
The rotary wing aircraft according to any one of configurations 1 to 4,
Moving in the traveling direction so as to incline the flight unit in the traveling direction, the elevation angle is an angle at which the oblique axis can be horizontal at least when flying in the traveling direction,
Rotorcraft.

(First embodiment)
FIG. 1 is a perspective view showing a configuration of a rotary wing machine 10 according to a first embodiment of the present invention, and FIG. 2 is a side view of the rotary wing machine 10 seen from a direction of an arrow X in FIG. Yes, FIG. 3 is a plan view of the rotary wing machine 10 as seen from the direction of the arrow Y in FIG. 1. In the present embodiment, a 4-rotor type multicopter will be described as an example of a rotary wing machine having a plurality of rotary blades.

The central portion 15 of the rotary wing machine 10 is provided at the center of the rotary wing machine 10 when viewed from above. From the side surface of the central portion 15, four arm portions 14A, 14B, 14C, 14D are arranged at equal intervals, that is, the angles formed by the longitudinal directions of the adjacent arm portions are 90 degrees. Has been stretched to. The arm portions 14A, 14B, 14C and 14D are means for supporting the rotary blade portions 11A, 11B, 11C and 11D, respectively. The arm portion 14A and the rotary blade portion 11A, the arm portion 14B and the rotary blade portion 11B, the arm portion 14C and the rotary blade portion 11C, the arm portion 14D and the rotary blade portion 11D have the same configuration, and hence the arm portion 14A will be described below. The configuration of the rotary blade portion 11A will be described as an example. In the present embodiment, the arm portions 14A, 14B, 14C, 14D are bent downward so as not to interfere with the rotary blades 12A, 12B, 12C, 12D so as to avoid their movable range. Although it has a shape, it does not necessarily have to have the shape illustrated in FIG. 1 as long as it does not interfere with the rotor blades 12A, 12B, 12C, 12D.

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

The first mounting unit 25 is a means for mounting an object, for example, a camera 28 for performing aerial photography, a drive mechanism (not shown) for changing the direction of the camera, and a control for controlling the camera 28 and the drive mechanism. An object such as a device (not shown) is mounted. The control device controls the photographing operation of the camera 28, the pan operation of rotating the camera 28 left and right, and the tilt operation of tilting the camera 28 up and down. Further, in the rotorcraft 10, the power source for driving the power units 13A, 13B, 13C, 13D, the camera 28, the control device, etc., the receiver for radio control, and the attitude of the rotorcraft 10 are grasped. A leveling device and the like (none of which are shown) are mounted as necessary, but these may be mounted on the first mounting portion 25, or may be mounted on the space provided in the central portion 15 described above. It may have been done. The control device may also be mounted in the space provided in the central portion 15.

The 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 body of the rotary wing aircraft 10. , 14B, 14C, 14D. The connecting portion 16 is a joint mechanism such as a ball joint, and rotatably supports the first mounting portion 25 and the support rod 21. In the present embodiment, the connecting portion 16 is within a range of a substantially hemisphere below the rotary wing machine 10 within a range where it does not contact the arm portions 14A, 14B, 14C, 14D, and the first mounting portion 25 and These are supported so that the support bar 21 can rotate. The connecting portion 16 is fixed to the upper end of the support rod 21, and the 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 state of being suspended vertically downward from the rotary wing machine 10 by the action of gravity regardless of the posture of the rotary wing machine 10.

The operator operates the radio control transmitter provided with the operation unit to operate the rotary wing machine 10. When the receiver receives the radio signal transmitted from the transmitter, the control device of the rotary wing machine 10 controls the rotary wing machine 10 such as the power units 13A, 13B, 13C, 13D and the camera 28 based on the radio signal. Controls each part.

Here, as shown in FIG. 4, the center C of the connecting portion 16 coincides with the center U of the lift force generated in the body of the rotary wing aircraft 10 by the rotation of the four rotary blades 12A, 12B, 12C, and 12D. ing. Here, the center C of the connecting portion 16 is a point of action of gravity on the supporting rod 21, the first mounting portion 25, and an object mounted on the first mounting portion 25 with respect to the connecting portion 16, and 16 is the center of rotation. Further, the center U of the lift is the point of action of the lift generated by the rotation of the rotary blades 12A, 12B, 12C, 12D on the rotary wing machine 10. More specifically, when the width of each rotor blade 12A, 12B, 12C, 12D in the lateral direction is d, each rotor blade 12A is located at a position d/n from the upper end in the width direction of each rotor blade. , 12B, 12C, 12D act (n is, for example, 3). The rotation of each rotor blade 12A, 12B, 12C, 12D on the plane passing through the position d/n from the upper end in the width direction of each rotor blade 12A, 12B, 12C, 12D shown in FIG. The center of the concentric circle through which the axis passes is the center U of lift.

In this way, the center U of the lift force generated in the airframe of the rotary wing aircraft 10 is at the point of action of gravity of the heavy object (the support rod 21, the first mounting portion 25, and the object mounted on the first mounting portion 25). Since it is located at the connecting portion 16 which is the center of rotation, even if the body of the rotary wing aircraft 10 is tilted, gravity vertically downward due to the weight acts on the center U of the lift force. However, the rotation moment due to the gravity of the heavy object does not occur around the center U of the lift force.

Next, changes in the attitude of the rotary wing machine 10 will be described with reference to FIG. When the operator performs an operation of raising the rotary wing aircraft 10 using the operation unit of the transmitter, the control unit controls the operation to increase the rotational speed of the power units 13A, 13B, 13C, and 13D. The rotational speeds of the rotor blades 12A, 12B, 12C, 12D attached to the power units 13A, 13B, 13C, 13D also increase. As a result, the rotor blades 12A, 12B, 12C, 12D gradually generate a lift force required to lift the rotor blade machine 10. When the lift exceeds the gravity applied to the rotary wing machine 10, the rotary wing machine 10 starts to float in the air and floats in the direction of arrow A, as shown in FIG. 5(A). At this time, for example, assuming that the upper limit of the rotation speed level of the rotor blades 12A, 12B, 12C, 12D is 10, the rotation speed level of each rotor blade 12A, 12B, 12C, 12D at this rising time is 6, for example. Both have the same rotation speed.

When the rotary wing aircraft 10 reaches a desired altitude, the operator operates the transmitter to rotate the rotary wing aircraft 12A, 12B, 12C, 12D so that the rotary wing aircraft 10 stops in the air (hovering). Adjust. That is, the rotation speed at this time is a rotation speed at which the lift force due to the rotation of each of the rotor blades 12A, 12B, 12C, and 12D and the gravity applied to the rotor blade machine 10 are balanced, for example, the rotation speed level 5.

Next, when the rotary wing aircraft 10 moves in the horizontal direction, the operator operates the transmitter to set the rotational speeds of the rotary blades 12B and 12C located rearward in the traveling direction to the forward direction in the traveling direction. The rotation speed of the rotary blades 12A and 12D in FIG. At this time, for example, the rotational speed levels of the rearward rotating blades 12B and 12C are set to 6, and the rotational speed level of the frontward rotating blades 12A and 12D is set to 4. As a result, the lift force by the rear rotor blades 12B, 12C becomes larger than the lift force by the front rotor blades 12A, 12D, and the positions of the rotor blades 12B, 12C become higher than the positions of the rotor blades 12A, 12D. Therefore, as shown in FIG. 5B, the body of the rotary wing aircraft 10 is in a posture in which it is inclined forward and downward in the traveling direction.

Immediately after taking such a posture, the pilot operates the transmitter to adjust the rotational speed of each of the rotor blades A, 12B, 12C, 12D to a rotational speed that moves in the horizontal direction at a desired speed. For example, the rotational speed level of each of the rotor blades 12A, 12B, 12C, 12D at this time is set to 5. Conventionally, the attitude of the aircraft could not be maintained and horizontal movement could not be realized unless the number of rotations of the rotary blades in the forward direction of travel was greater than the number of rotations of the rotary blades in the forward direction. In the present embodiment, the rotary wing machine 10 can be moved in the arrow B direction as shown in FIG. 5C while keeping the rotational speeds of the rotary blades 12A, 12B, 12C, 12D the same.

As shown in FIGS. 5B and 5C, when the body of the rotary wing aircraft 10 is in a posture in which the body of the rotary wing aircraft 10 leans forward and downward, the gravity of heavy objects below the support rod 21 causes the connection portion. Although acting on 16, the point of action of the gravity on the connecting portion 16 (the center C of the connecting portion 16) coincides with the center U of the lift force as described above. For this reason, the rotation moment due to the gravity of the weight of the support rods 21 and below does not occur around the center U of the lift force. Therefore, the rotational speeds of the rotor blades 12A, 12B, 12C, 12D may remain the same.

This is explained mechanically. As shown in FIG. 6, the force acting on the center U of lift (the center C of the connecting portion) is the gravity mg by the supporting rod 21, the first mounting portion 25, the mounted object such as the camera 28, and the rotor blades 12A, 12B. , 12C, 12D is the lift force due to rotation. The direction of the gravity mg is downward in the vertical direction, and the direction of the lift force F is an upward direction orthogonal to a plane that passes through the position d/n from the upper ends of the rotor blades 12A, 12B, 12C, 12 in the width direction. When the lift force F is decomposed into a component force F1 in a direction parallel to the direction of gravity mg and a component force F2 in a direction perpendicular to the direction of gravity mg, the component force F1 balances with the gravity mg, and the component force F2 is a rotor blade. It provides the horizontal propulsion of the machine 10. Due to these component forces F1 and F2, the rotary wing aircraft 10 moves in the horizontal direction while maintaining the altitude.

As described above, according to the present embodiment, when the rotary wing aircraft 10 travels in the horizontal direction, the difference between the rotational speeds of the respective rotary blades in the front and rear of the traveling direction is made smaller than in the related art, for example, in that case. The difference can be zero.

If the difference between the rotational speeds of the front and rear rotors in the traveling direction is made smaller than before, the following advantages can be obtained. First, during the period in which the rotary wing machine 10 moves in the horizontal direction, the output of the rotor behind the traveling direction is considerably higher than the output in the front of the traveling direction (high output enough to cancel the rotational moment M that has been conventionally generated). Since it is not necessary to maintain the power unit, the possibility of failure due to heat generation will be reduced if the power unit is a motor, and a downgraded power unit with lower output performance than before will be used. There is room for it. If it is allowed to downgrade the power unit in this way, the entire body of the rotary wing machine can be reduced in weight and cost, and as a result, fuel economy can be improved and economic merit can be enjoyed.

Further, when a difference is provided between the rotational speeds of the front and rear rotary blades as in the conventional case, the rotational speed of the front rotary blades is relatively small, and Even if the output is increased, a part of the output must be used for eliminating the rotational moment, and as a result, the average number of revolutions of all rotors does not increase so much. For this reason, the traveling speed of the rotary wing machine does not become very fast, and the weight of the heavy object that can be carried by the rotary wing machine cannot be too heavy. On the other hand, according to the present embodiment, the output of the power units 13A, 13B, 13C, and 13D does not have to be used for eliminating the rotational moment, and the ratio of the output for the propulsive force of the rotary wing machine is higher than in the conventional case. Can be increased. Therefore, it contributes to the improvement of the traveling speed of the rotary wing machine, and it becomes possible to carry heavier loads.

Further, in the case of a transportation application in which the luggage is transported by the rotary wing machine and the luggage is separated in the air above the destination and dropped to the destination, in the conventional configuration, at the moment when the luggage is separated from the rotary wing machine, The rotation moment M is suddenly reduced by an amount corresponding to the weight of the luggage, and further, there is a difference in the rotation speed level between the front and the rear in the traveling direction, so that the behavior of the body of the rotary wing machine becomes extremely unstable. On the other hand, according to the present embodiment, no rotation moment is generated, and since there is no difference in rotation speed level between the front and the rear in the traveling direction, there is no room for the rotation moment to change even if the luggage is separated, The above problem does not occur.

[Modification]
The above-described first embodiment may be modified as follows.
[Modification 1]
A center-of-gravity moving mechanism that moves the center of gravity of the body of the rotary wing machine may be provided. FIG. 7 is a side view of the rotary wing machine 10A according to the first modification, and FIG. 8 is a side view showing a posture change of the rotary wing machine 10A. The connecting portion 16A connects the second mounting portion 26 arranged on the side opposite to the first mounting portion 25 as viewed from the connecting portion 16A to the arm portions 14A, 14B, 14C and 14D together with the first mounting portion 25. .. The second mounting portion 26 is connected to the first mounting portion 25 via the support rod 21 and the support rod 22. The second mounting unit 26 may be equipped with a power supply, a receiver, a control device, a leveler, and the like, as well as an antenna that receives a positioning signal (for example, a GPS signal). The support rod 21 and the support rod 22 are one rod-shaped member extending in one direction, and a ball joint etc. within a range that does not interfere with the arm portions 14A, 14B, 14C, 14D and the rotor blade portions 11A, 11B, 11C, 11D. It is possible to swing with respect to the airframe around the connecting portion 16A.

Further, the first mounting portion 25, the second mounting portion 26, and the support rods 21 and 22 can be moved up and down with respect to the connecting portion 16A by, for example, a rack and pinion mechanism provided in the connecting portion 16A. .. When the first mounting portion 25 and the second mounting portion 26 are lowered downward (in the direction of the arrow f) by this vertical movement mechanism, the weight of the first mounting portion 25 side when viewed from the connecting portion 16A is the second mounting portion 26 side. It will be heavier than the weight of. As a result, the position of the center of gravity of the body of the rotary wing aircraft 10A is lowered. In this case, regardless of the attitude of the rotary wing machine 10, the first mounting portion 25 is located vertically below the rotary wing machine 10 and the second mounting portion 26 is vertically above the rotary wing machine 10 due to the action of gravity. Can be maintained in the position. On the other hand, when the first mounting portion 25 and the second mounting portion 26 are moved upward (in the direction of arrow e) by this vertical movement mechanism, the weight of the second mounting portion 26 side when viewed from the connecting portion 16A is the first mounting portion. The weight becomes heavier than the weight on the 25 side, and the position of the center of gravity of the body of the rotary wing aircraft 10A rises. 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 that moves the center of gravity of the body of the rotary wing aircraft.

According to the first modification, as shown in FIG. 8, the rotary blade machine 10A is horizontally moved by the same control as that of the above-described embodiment while keeping the rotational speeds of the rotary blades 12A, 12B, 12C, and 12D the same. Can be moved to. Further, when an antenna for receiving a positioning signal (for example, a GPS signal) 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 smaller than the weight of the second mounting portion 26 side. When the weight is also heavy, the direction of the antenna can always be maintained constant (that is, the antenna always faces upward in the vertical direction), so that the directivity and gain of the antenna can be maintained constant. Furthermore, the position of the center of gravity of the rotorcraft 10A can be changed by moving the first mounting portion 25, the second mounting portion 26, and the support rods 21 and 22 up and down with respect to the connecting portion 16A. The change is effective for maintaining the attitude of the rotary wing machine 10 when any of the rotary blades 11A, 11B, 11C, 11D fails. Specifically, when the center of gravity of the airframe of the rotorcraft 10A is moved closer to the rotor blade that has stopped due to a failure to move the center of gravity of the aircraft and change the attitude of the aircraft, only the remaining rotor blades are used. It is possible to continue the flight.

[Modification 2]
In the embodiment and the modification 1 described above, the first mounting portion 25 or the second mounting portion 26 can freely rotate and move about the connecting portions 16 and 16A by the action of gravity. A power unit such as a motor or an auxiliary propeller may be used and actively controlled according to the operation of the operator. For example, in the case of the above-described embodiment, the drive mechanism that allows the support rod 21 to be variable with respect to the arm portions 14A, 14B, 14C, and 14D from the connecting portion 16 as a starting point, and the motor that drives the drive mechanism are rotor blade machines. It is provided in 10. When the operator operates the transmitter and the rotary wing aircraft 10 reaches the desired altitude, the rotational speeds of the rotary blades 12B and 12C located behind the traveling direction are set to be lower than those of the rotary blades 12A and 12D located forward in the traveling direction. The posture of the rotary wing machine 10 is tilted downward in the traveling direction by increasing the number, and the first mounting portion 25 is positioned vertically below the connecting portion 16 by using the drive mechanism according to the tilt. To control. This control may be performed manually by the operator, or may be automatically performed by the control device of the rotary wing machine 10 according to the inclination of the rotary wing machine 10 based on a predetermined control algorithm. 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 force of the auxiliary propellers controls the position of the first mounting portion 25. Good.
As described above, the connecting portion may be connected to the arm portion so that the first mounting portion can be moved by gravity, or can be connected to the arm portion so that the first mounting portion can be moved by the power portion. You may.

[Modification 3]
In Modification 1, if the weight of the first mounting portion 25 side and the weight of the second mounting portion 26 side as viewed from the connecting portion 16A are set to be the same, as shown in FIG. The postures 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 unit 26, the imaging direction of the camera 28 will be the traveling direction of the rotary wing machine 10, so that, for example, the rotary wing 12A and the like fall within the imaging range of the camera 28. The possibility of getting in the way can be reduced. Further, when the postures of the support rod 21 and the support rod 22 are horizontal, when the postures of the support rod 21 and the support rod 22 are horizontal, it is possible to reduce the air resistance of the aircraft when traveling in the horizontal direction. It will be possible.

[Modification 4]
The structure of the rotary wing machine is not limited to the structure illustrated in the embodiment, and may be, for example, the structure shown in FIGS. The rotary wing machine 10B according to Modification 4 is configured such that the arm portion 141 supporting the rotary blade portions 11A, 11B, 11C, 11D has a rectangular shape when viewed from above. The connecting portion 16B is rotatable about a horizontal x-axis and a frame body 161 connected to the arm 141 by a rotation shaft 1621 so as to be rotatable about a horizontal x-axis. A frame body 161 is provided with a frame body 162 connected to the frame body 161 by a pin 1611. A damper 171 that suppresses a rotational movement of the frame body 161 about the x-axis is provided between the arm portion 141 and the frame body 161, and a frame body 162 is provided between the frame body 161 and the frame body 162. A damper 172 that suppresses rotational movement around the y-axis is provided. The dampers 171 and 172 lengthen the time required for the displacement so that the attitude of the rotary wing machine 10B is not unstable due to the rotational movement of the frame bodies 161 and 162 and the sudden displacement of the first mounting portion 25. It is a means to do.

[Modification 5]
The present invention is applicable not only to the case where the rotary wing machine travels in the horizontal direction, but also to the case where the rotary wing machine travels in the direction including the horizontal direction (that is, the direction having the vector component in the horizontal direction). That is, even when the component force F1 in the direction parallel to the direction of the gravity mg described with reference to FIG. Can be smaller than.

[Modification 6]
It is not necessary to mount the power source on the rotorcraft, and for example, a power source may be installed on the ground and a power cable extending from the power source may be connected to the rotorcraft to supply power. At an altitude of about 15 m, a receiver for non-contact power transmission may be installed in the central part, the first mounting part or the second mounting part, and power may be wirelessly supplied from the ground to the rotary wing aircraft.

(Second embodiment)
Second Embodiment A second embodiment of the present invention will be described with reference to FIGS. In the following description, the same or similar elements will be denoted by the same reference symbols, and detailed description thereof will be omitted.

As shown in FIG. 16, the rotary wing aircraft according to the second embodiment also includes a flight unit, a main body unit, and a connection unit that swingably connects the flight unit and the main body unit within a predetermined range. There is. The rotorcraft mainly flies in the traveling direction (X direction).

The flying unit includes rotor blades 11A and 11B (11C and 11D are not shown), power units (motors) 13A and 13B (13C and 13D are not shown) that supply power to these, and power units 13A and 13B. And arm portions 14A and 14B (14C and 14D are not shown) for supporting.

The main body portion includes a support rod extending in the vertical direction, and a first mounting portion and a second mounting portion provided on the upper end and the lower end of the support rod, respectively. The support rod has a lower support rod 21 extending downward and an upper support rod 22 extending upward. The camera 28T is mounted on the first mounting portion, and the 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 connecting portion 16P connects the main body portion to allow swinging movement in the pitch direction (around the horizontal axis). The second connection portion 16R allows the main body portion to swing around an oblique axis P that forms an elevation angle θ with the traveling direction (X axis).

The intersection point between the horizontal axis and the oblique axis according to the present embodiment is the lift force generated by the rotor blades 11A and 11B (11C and 11D are not shown) and the rotor blades 11A and 11B (11C and 11D are not shown). It almost coincides with the center. More specifically, the position of the intersection is on the plane passing through the position within the width in the lateral direction of each rotor, which is the point of action of the lift generated in the airframe by rotating on the rotor aircraft. Moreover, it is located at a position that substantially coincides with the action point located at the center of the circle through which the rotation axes of the plurality of rotor blades pass. Furthermore, the above-mentioned intersection point according to the present embodiment substantially coincides with the center of gravity G of the main body.

Further, as shown in the drawing, the position of the camera 28T is shifted rearward from the main body portion, and the position of the camera 28B is shifted frontward from the main body portion. As a result, the rotor blades function as counterweights in the front-rear direction, and it is difficult for the rotor blades to be within the field of view when flying in the traveling direction.

As shown in FIG. 17, the rotary wing aircraft moves the flight unit in the traveling direction by inclining the flying unit in the traveling direction. At this time, the oblique axis P may be 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 when flying in the traveling direction, in other words, at the moment when the oblique axis can take at least the horizontal direction when flying in the traveling direction. Is set. Specifically, the elevation angle θ is preferably 10 degrees to 35 degrees, and is preferably 25 degrees to 35 degrees when importance is attached to the flight speed in the traveling direction, and is preferably 10 degrees to 15 degrees when the flight speed is low. ..

As shown in FIG. 18, when the flight speed in the traveling direction is increased, the oblique axis forms a depression angle with the horizontal direction.

In this way, in the initial state (during vertical ascent), by preliminarily setting the oblique axis to form an elevation angle 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, the Sao light speed can be increased. Further, when a motor is used for the connecting portion, the output of the motor can be made small.

<Modification>
The second embodiment described above may be configured as a modified example as shown in FIG. 19, for example. As shown in the figure, in the rotary wing machine according to the present modification, the camera 28T is on the axis of the main body (that is, not shifted backward). When the camera 28B is located in the front, it is possible to suppress the reflection of the rotor blades and the like, and when the images obtained by the upper and lower cameras 28T and 28B are combined, the positions of the cameras 28B are close to each other as coaxial as possible. Is preferable.

10, 10A, 10B, 10C... Rotor blades, 11A, 11B, 11C, 11D... Rotor blades, 12A, 12B, 12C, 12D... Rotor blades, 13A, 13B, 13C, 13D... Power portions, 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 flying part, a main body part, and a connecting part that connects the flying part and the main body part so that they can swing in a predetermined range,
The flight unit includes a plurality of rotor blades and an arm unit that supports the plurality of rotor blades,
The main body portion 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 connecting portion includes a first connecting portion that allows the main body portion to swing around a horizontal axis that is orthogonal to the traveling direction, and a predetermined direction with the traveling direction when viewed along the horizontal axis that is orthogonal to the horizontal axis. A second connecting portion that allows the main body portion to swing around an oblique axis forming an elevation angle,
Rotorcraft. The rotary wing machine according to claim 1,
The rotary wing machine is characterized in that an intersection of the horizontal axis and the oblique axis is located at a substantially central position of a lift force generated in the airframe by the rotation of the plurality of rotary blades. The rotary wing machine according to claim 1,
A rotary wing machine, wherein an intersection of the horizontal axis and the oblique axis is located at a center of gravity of the main body. The rotary wing machine according to any one of claims 1 to 3,
The position of the first mounting portion is displaced rearward from the main body portion,
The position of the second mounting portion is displaced forward from the main body portion,
Rotorcraft. The rotary wing machine according to any one of claims 1 to 4,
The elevation angle is an angle at which the oblique axis can be horizontal at least when flying in the traveling direction, while moving in the traveling direction by inclining the flight unit in the traveling direction.
Rotorcraft.