WO2022180755A1 - Aéronef - Google Patents

Aéronef Download PDF

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Publication number
WO2022180755A1
WO2022180755A1 PCT/JP2021/007226 JP2021007226W WO2022180755A1 WO 2022180755 A1 WO2022180755 A1 WO 2022180755A1 JP 2021007226 W JP2021007226 W JP 2021007226W WO 2022180755 A1 WO2022180755 A1 WO 2022180755A1
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WO
WIPO (PCT)
Prior art keywords
aircraft
rotor
rotation
center
rotor blades
Prior art date
Application number
PCT/JP2021/007226
Other languages
English (en)
Japanese (ja)
Inventor
航矢 桑村
佑 中井
Original Assignee
テトラ・アビエーション株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by テトラ・アビエーション株式会社 filed Critical テトラ・アビエーション株式会社
Priority to PCT/JP2021/007226 priority Critical patent/WO2022180755A1/fr
Priority to JP2023501932A priority patent/JP7345226B2/ja
Publication of WO2022180755A1 publication Critical patent/WO2022180755A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/52—Tilting of rotor bodily relative to fuselage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft

Definitions

  • the present invention relates to aircraft.
  • Aircraft that perform vertical take-off and landing are known.
  • the aircraft described in Patent Document 1 includes a fuselage, a pair of fixed wings extending in the left-right direction from the fuselage, and being supported by and driven to rotate by the pair of fixed wings, so that the aircraft moves vertically upward. and a plurality of rotor blades that generate a thrust (in other words, an upward thrust) to propel it upward.
  • One of the purposes of the present invention is to prevent the rotational speed of the rotor from becoming excessively high.
  • the aircraft performs vertical take-off and landing.
  • the aircraft includes a fuselage, at least one pair of fixed wings extending laterally from the fuselage, and a plurality of first rotor wings.
  • the plurality of first rotor blades are supported by at least one pair of fixed wings and rotationally driven to generate thrust for propelling the aircraft vertically upward.
  • the plurality of first rotor blades are divided by a first plane perpendicular to the left-right direction of the aircraft and passing through the center of gravity of the aircraft, and a second plane perpendicular to the longitudinal direction of the aircraft and passing through the center of gravity of the aircraft. At least two are located in each of the quadrant regions of .
  • At least one of the at least two first rotor blades positioned in the quadrant region has a center axis of rotation that is not inclined with respect to the vertical direction, and The central axis of rotation of the other first rotor blade of the at least two first rotor blades is inclined with respect to the vertical direction.
  • the aircraft performs vertical take-off and landing.
  • the aircraft includes a fuselage, at least one pair of fixed wings extending laterally from the fuselage, and a plurality of first rotor wings.
  • the plurality of first rotor blades are supported by at least one pair of fixed wings and rotationally driven to generate thrust for propelling the aircraft vertically upward.
  • At least one of the plurality of first rotor blades has a center axis of rotation inclined with respect to the vertical direction.
  • the sum of the center-of-rotation 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 center axis of rotation of the first rotor and having a vertically upward component.
  • 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. It is a block diagram showing a schematic structure of the rotary blade module of the first embodiment.
  • FIG. 4 is an explanatory diagram showing the direction of rotation and the direction of inclination of the central axis of rotation of the first rotor blade of the aircraft of the first embodiment;
  • FIG. 4 is an explanatory diagram showing the tilt direction of the central axis of rotation and the rotation center vector of the rotor module of the first embodiment;
  • FIG. 5 is an explanatory diagram showing the rotation direction of the first rotor of the aircraft of the first modified example of the first embodiment and the inclination direction of the central axis of rotation
  • FIG. 8 is an explanatory diagram showing the rotation direction of the first rotor of the aircraft of the second modification of the first embodiment and the inclination direction of the central axis of rotation
  • FIG. 11 is an explanatory diagram showing the rotation direction and the inclination direction of the central axis of rotation of the first rotor blade of the aircraft of the third modification of the first embodiment
  • FIG. 12 is an explanatory diagram showing the rotation direction of the first rotor of the aircraft of the fourth modification of the first embodiment and the inclination direction of the central axis of rotation
  • FIG. 10 is an explanatory diagram showing the tilt direction of the central axis of rotation and the rotation center vector of the rotor module of the second embodiment
  • FIG. 11 is an explanatory diagram showing the rotation direction and the inclination direction of the central axis of rotation of the first rotor blade of the aircraft of the first modified example of the second embodiment
  • FIG. 11 is an explanatory diagram showing the rotation direction and the inclination direction of the central axis of rotation of the first rotor wing of the aircraft of the second modification of the second embodiment
  • FIG. 11 is an explanatory diagram showing the rotation direction and the inclination direction of the central axis of rotation of the first rotor blade of the aircraft of the third modification of the second embodiment
  • FIG. 12 is an explanatory diagram showing the rotation direction and the inclination direction of the central axis of rotation of the first rotor wing of the aircraft of the fourth modification of the second embodiment;
  • FIG. 1 Each embodiment of the aircraft of the present invention will be described below with reference to FIGS. 1 to 14.
  • FIG. 1 Each embodiment of the aircraft of the present invention will be described below with reference to FIGS. 1 to 14.
  • the aircraft of the first embodiment performs vertical takeoff and landing.
  • the aircraft includes a fuselage, at least one pair of fixed wings extending laterally from the fuselage, and a plurality of first rotor wings.
  • the plurality of first rotor blades are supported by at least one pair of fixed wings and rotationally driven to generate thrust for propelling the aircraft vertically upward.
  • the plurality of first rotor blades are divided by a first plane perpendicular to the left-right direction of the aircraft and passing through the center of gravity of the aircraft, and a second plane perpendicular to the longitudinal direction of the aircraft and passing through the center of gravity of the aircraft. At least two are located in each of the quadrant regions of .
  • At least one of the at least two first rotor blades positioned in the quadrant region has a center axis of rotation that is not inclined with respect to the vertical direction, and The central axis of rotation of the other first rotor blade of the at least two first rotor blades is inclined with respect to the vertical direction.
  • each quadrant region there is a first rotor whose central axis of rotation does not tilt with respect to the vertical direction. Only the upward thrust of the first rotor changes as the number of revolutions 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 prevent the rotational speed of the rotor from becoming excessively high.
  • the aircraft of the first embodiment will be described in more detail.
  • the aircraft 1 performs vertical takeoff and landing.
  • the aircraft 1 is an eVTOL (electric Vertical Take-Off and Landing) that flies the aircraft by electric power.
  • the aircraft 1 flies in a vertical direction (in other words, ascends or descends in a vertical direction) in a vertical flight state (in other words, takeoff and landing state), and flies in a horizontal direction (in other words, cruises).
  • the operating state is switched between a state of level flight (in other words, a cruising state).
  • each direction described later is the direction in the cruising state.
  • Each direction may be a direction in a takeoff/landing state.
  • the upward direction and the downward direction are the vertically upward direction and the vertically downward direction, respectively.
  • the aircraft 1 includes a fuselage 10, a pair of front fixed wings 20-1, 20-2, and a pair of rear fixed wings 20-3, 20-4.
  • the number of pairs of fixed wings included in the aircraft 1 may be one, or three or more.
  • each of the pair of front fixed wings 20-1, 20-2 and the pair of rear fixed wings 20-3, 20-4 are simply fixed wings 20-j (j is 1 to representing an integer of 4).
  • the fuselage 10 extends in the front-rear direction of the aircraft 1 at the central portion in the left-right direction of the aircraft 1 .
  • the fuselage 10 is composed of two rod-shaped 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. It has shapes that are connected to each other.
  • the fuselage 10 has a vertically downward end face of the forward end of the aircraft 1 located vertically below the vertically downward end face of the rearward end of the aircraft 1 .
  • the fuselage 10 has a vertically upward end face of the forward end of the aircraft 1 located vertically below the vertically upward end face of the rearward end of the aircraft 1 .
  • the fuselage 10 may be rod-shaped or column-shaped extending in the forward direction of the aircraft 1 .
  • the fuselage 10 may have a shape (in other words, a tapered shape) at each of both ends in the longitudinal direction of the aircraft 1 that tapers toward the tip.
  • the length of the torso 10 in the front-rear direction may be 1 m to 15 m.
  • a 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 cut 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 plane-symmetrical to each other with respect to a plane perpendicular to the left-right direction of the aircraft 1 and passing through the center of the fuselage 10 in the left-right direction.
  • each of the pair of front fixed wings 20-1 and 20-2 may have a length of 0.5 m to 10 m in the horizontal direction.
  • a pair of forward 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.
  • a pair of forward fixed wings 20-1 and 20-2 are located at the ends of the fuselage 10 in the forward direction.
  • the pair of front fixed wings 20-1 and 20-2 are arranged in the longitudinal direction of the aircraft 1 from the front end of the fuselage 10 to the rear end of the pair of front fixed wings 20-1 and 20-2. has a position where the ratio of the distance to to the length of the fuselage 10 in the longitudinal direction of the aircraft 1 has a value between 0.01 and 0.4 (0.1 and 0.3 in this example).
  • a pair of forward fixed wings 20-1 and 20-2 are located below the center of the fuselage 10 in the vertical direction of the aircraft 1.
  • the pair of forward fixed wings 20-1 and 20-2 are located at the ends of the fuselage 10 in the downward direction.
  • the pair of front fixed wings 20-1 and 20-2 are arranged in the vertical direction of the aircraft 1 from the lower end of the fuselage 10 to the upper end of the pair of front fixed wings 20-1 and 20-2. 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 tails 11-1 and 11-2 described later)
  • the ratio has positions with values between 0.01 and 0.4 (0.05 and 0.2 in this example).
  • a 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 fixed rear wings 20-3 and 20-4 has an airfoil shape in a cross section cut 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 perpendicular to the left-right direction of the aircraft 1 and passing through the center of the fuselage 10 in the left-right direction.
  • the length in the left-right direction of each of the pair of rear fixed wings 20-3, 20-4 is substantially equal to the length in the left-right direction of each of the pair of front fixed wings 20-1, 20-2.
  • the length in the left-right direction of each of the pair of rear fixed wings 20-3 and 20-4 is slightly longer than the length in the left-right direction of each of the pair of front fixed wings 20-1 and 20-2. to long.
  • each of the pair of rear fixed wings 20-3 and 20-4 may have a length of 0.5 m to 10 m in the lateral direction.
  • a pair of rear fixed wings 20-3 and 20-4 are positioned rearward of the center of the fuselage 10 in the longitudinal direction of the aircraft 1.
  • the pair of rear fixed wings 20-3 and 20-4 are positioned at the rearward end of the fuselage 10.
  • the pair of fixed aft wings 20-3, 20-4 extend from the aft end of the fuselage 10 to the forward end of the pair of aft fixed wings 20-3, 20-4 in the longitudinal direction of the aircraft 1. has a position where the ratio of the distance to to the length of the fuselage 10 in the longitudinal direction of the aircraft 1 has a value between 0.01 and 0.4 (0.1 and 0.3 in this example).
  • a pair of rear fixed wings 20-3 and 20-4 are positioned above the center of the fuselage 10 in the vertical direction of the aircraft 1.
  • the pair of fixed rear wings 20-3 and 20-4 are positioned at the ends of the fuselage 10 in the upward direction.
  • the pair of fixed rear wings 20-3 and 20-4 are arranged in the vertical direction of the aircraft 1 from the upper end of the fuselage 10 to the lower end of the pair of fixed rear wings 20-3 and 20-4. has a position where the ratio of the distance to to the height of the fuselage 10 in the vertical direction of the aircraft 1 is a value between 0.01 and 0.4 (0.05 and 0.2 in this example).
  • the aircraft 1 has 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.
  • a pair of front fixed wings 20-1, 20-2 and a pair of rear fixed wings 20-3, 20-4 are located in four quadrant regions.
  • the four quadrant regions are a first plane P1 perpendicular to the left-right direction of the aircraft 1 and passing through the center of gravity CG of the aircraft 1, and a second plane P2 perpendicular to the longitudinal direction of the aircraft 1 and passing through the center of gravity CG of the aircraft 1.
  • the aircraft 1 includes a pair of fixed front wings 20-1, 20-2 and a pair of fixed rear wings 20-3, 20-4, and a plurality of (16 in this example) rotor blades. It has modules 40-1 to 40-16. Note that the number of rotor modules included in the aircraft 1 may be 2 to 15, or may be 17 or more. For example, the aircraft 1 may have 8, 12, 16, 20 or 24 rotor modules.
  • a plurality of rotor modules 40-1 to 40-16 are detachable to a pair of front fixed wings 20-1, 20-2 and a pair of rear fixed wings 20-3, 20-4. fixed to In addition, the plurality of rotor blade modules 40-1 to 40-16 are irremovably fixed to the pair of front fixed wings 20-1, 20-2 and the 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 located on the left side of the fuselage 10 out 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 located on the right side of the fuselage 10 out 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 out 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 out of the pair of rear fixed wings 20-3 and 20-4. .
  • Eight rotor modules 40-1 to 40-4, 40-9 to 40-12 positioned on the left side of the fuselage 10 and eight rotor modules 40-5 to 40 positioned on the right side of the fuselage 10 -8, 40-13 to 40-16 are symmetrical to each other with respect to a plane perpendicular to the left-right direction of the aircraft 1 and passing through the center of the fuselage 10 in the left-right direction.
  • a rotor module 40-i (i represents an integer from 1 to 16) fixed to the fixed wing 20-j rotates from the tip of the fixed wing 20-j in the lateral direction of the aircraft 1.
  • rotor blade modules 40-k to 40-l (where k is an integer of 1, 5, 9, or 13, l is an integer of k+3) are fixed to the stationary blade 20-j. ) are positioned at equal intervals in the horizontal direction of the aircraft 1 . Note that the four rotor modules 40-k to 40-l fixed to the fixed wing 20-j may have different intervals in the horizontal direction of the aircraft 1.
  • FIG. 1 illustrates that the four rotor blade modules 40-k to 40-l (where k is an integer of 1, 5, 9, or 13, l is an integer of k+3) are fixed to the stationary blade 20-j. ) are positioned at equal intervals in the horizontal direction of the aircraft 1 . Note that the four rotor modules 40-k to 40-l fixed to the fixed wing 20-j may have different intervals in the horizontal direction of the aircraft 1.
  • the four rotor modules 40-k to 40-l fixed to the fixed wing 20-j are the , the ratio of the distance between two rotor modules adjacent to each other to the length of the fixed wing 20-j in the lateral direction of the aircraft 1 is 0.1 to 0.4 (0.2 to 0.2 in this example). 0.3).
  • the distance between two adjacent rotor modules among the four rotor modules 40-1 to 40-4 fixed to the front fixed wing 20-1 in the left-right direction of the aircraft 1 is and the distance between two adjacent rotor modules among the four rotor modules 40-9 to 40-12 fixed to the rear stationary wing 20-3 are equal to each other. Note that the distances between the two may be different from each other.
  • the positions of the four rotor modules 40-1 to 40-4 fixed to the front fixed wing 20-1 and the positions of the four rotor modules 40-1 to 40-4 fixed to the rear fixed wing 20-3 , and the positions of the rotor blade modules 40-9 to 40-12 coincide with each other. Note that the positions of both may be different from each other.
  • the rotor module 40-i fixed to the stationary wing 20-j includes a support 401, a pair of first rotor blades 402-1 and 402-2, and a pair of 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 401 extends forwardly of the fixed wing 20-j and rearwardly 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 is rod-shaped or column-shaped extending in the front-rear direction.
  • the support 401 is detachably fixed to the fixed wing 20-j at the central portion in the longitudinal direction of the aircraft 1. As shown in FIG.
  • the support 401 is positioned below the fixed wing 20-j. According to this, since the center of gravity of the aircraft 1 can be positioned downward, even if the attitude of the aircraft changes, the change can be quickly suppressed. Note that the support 401 may be positioned above the fixed wing 20-j.
  • Each of the pair of first rotor blades 402-1 and 402-2 is rotatably supported by support 401 so that the central axis of rotation extends in a direction whose main component is the vertical direction of aircraft 1. be.
  • the pair of first rotor blades 402-1 and 402-2 are rotationally driven by the pair of electric motors 403-1 and 403-2, respectively, to generate thrust for propelling the aircraft 1 upward.
  • the pair of first rotor blades 402-1 and 402-2 are positioned in front of the fixed wing 20-j and behind the fixed wing 20-j in the longitudinal direction of the aircraft 1, respectively.
  • the first rotor 402-1 is located in front of the fixed wing 20-j in the longitudinal direction of the aircraft 1
  • the first rotor 402-2 is located in front of the fixed wing 20-j in the longitudinal direction of the aircraft 1. It is located after -j.
  • the pair of first rotor blades 402-1 and 402-2 are located at both ends of the support 401 in the longitudinal direction of the aircraft 1, respectively.
  • the pair of first rotor blades 402-1, 402-2 are fixed wing 20 in the longitudinal direction of aircraft 1, the distance between the pair of first rotor blades 402-1, 402-2 in the longitudinal direction of aircraft 1. It may have positions where the ratio of -j to length is a value between 1.2 and 4.5 (2 and 3 in this example).
  • the first rotor blades 402-1, 402-2 may be referred to as rotors. Details of the rotation direction and the central axis of rotation of the pair of first rotor blades 402-1 and 402-2 will be described later.
  • the configuration for rotationally driving the first rotor blade 402-1 (in this example, the electric motor 403-1, the speed controller 404-1, the controller 405-1, and the first control signal line 406-1) is explained.
  • the configuration for rotationally driving the first rotor 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 described in the same manner as the configuration for rotationally driving the first rotor blade 402-1, so the description thereof will be omitted.
  • the speed controller 404-1 and the controller 405-1 are housed inside the support 401. At least part of the electric motor 403-1 may also be housed inside the support 401. FIG.
  • the electric motor 403-1 rotates the first rotor blade 402-1 according to the power supplied from the speed controller 404-1.
  • Speed controller 404-1 rotates first rotor blade 402-1 rotationally driven by electric motor 403-1 according to a control signal transmitted from controller 405-1 through 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 revolutions).
  • the speed controller 404-1 may be represented as an ESC (Electric Speed Controller).
  • the electric motor 403-1 and the speed controller 404-1 correspond to the first rotary drive section.
  • power is supplied to the speed controller 404-1 from a storage battery (not shown).
  • a storage battery (not shown).
  • an accumulator is fixed to the support 401 .
  • the storage battery may be fixed to the fixed wing 20-j or the fuselage 10.
  • the controller 405-1 controls the speed controller 404-1 according to a control signal transmitted through the second control signal line 14 from the controller 13, which will be described later.
  • the aircraft 1 can fly above the aircraft 1 from the pair of first rotor blades 402-1 and 402-2 provided in each of the plurality of rotor blade modules 40-1 to 40-16. Vertical take-off and landing are performed by the thrust that propels it in the direction.
  • the fuselage 10 has an internal space that accommodates objects to be transported.
  • 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.
  • the internal space is located in the center of the aircraft 1 in the longitudinal direction.
  • Transportation targets include at least one of people and objects.
  • a person included in a transport object may be designated as a passenger.
  • passengers may fly the aircraft 1 .
  • the aircraft 1 is configured to fly by autopilot, the passengers do not need to operate the aircraft 1 .
  • the objects included in the transport object are cargo or luggage.
  • the interior space of fuselage 10 may accommodate one to five passengers.
  • the interior space of the fuselage 10 can accommodate one or two passengers.
  • 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 (cowl in this example) that can open and close the accommodation space.
  • the fuselage 10 includes a pair of tail wings 11-1, 11-2, a second rotor 12, a controller 13, and a second control signal line 14.
  • the number of tail wings included in the fuselage 10 may be one, or three or more.
  • a 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 tails 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 go upwards of the aircraft 1, they It has a plate shape extending from the body 10 in a direction in which the distance increases.
  • the pair of tails 11-1 and 11-2 are symmetrical to each other with respect to a plane perpendicular to the left-right direction of the aircraft 1 and passing through the center of the fuselage 10 in the left-right direction.
  • the second rotor blade 12 is rotatably supported by the fuselage 10 so that the central axis of rotation extends in a direction whose main component is the longitudinal direction of the aircraft 1 .
  • the second rotor blades 12 are rotationally driven by a second rotational drive section (not shown) to generate thrust for propelling the aircraft 1 forward.
  • the aircraft 1 has the thrust generated by the second rotor 12 that propels the aircraft 1 forward, the pair of front fixed wings 20-1 and 20-2, and the pair of rear It flies horizontally due to the lift generated by the fixed wings 20-3 and 20-4.
  • the second rotor blade 12 is located at the rearward end of the fuselage 10 .
  • the second rotor blade 12 may be positioned at a portion other than the rear end of the body 10 (for example, the front end of the body 10, or the center of the body 10 in the longitudinal direction). .
  • the number of the second rotor blades 12 included in the body 10 may be two or more.
  • the plurality of second rotor blades 12 may be positioned at both the forward end of the fuselage 10 and the rearward end of the fuselage 10, or may be positioned at only one of them. may be located.
  • the plurality of second rotor blades 12 are positioned on at least one of the pair of front fixed blades 20-1, 20-2 and the pair of rear fixed blades 20-3, 20-4. may In this example, the second rotor 12 may be represented as a propeller.
  • the control device 13 controls the aircraft 1 by operating with electric power.
  • the control device 13 includes electronic equipment that acquires information representing the state of the aircraft 1 (eg, altitude, longitude, latitude, speed, etc.).
  • controller 13 includes avionics (eg, communication equipment, navigation systems, flight management systems, etc.).
  • control device 13 generates a control signal according to the operation of the passenger, and based on the generated control signal, the first rotor blades 402-1, 402-1, and 402-1 of the plurality of rotor blade modules 40-1 to 40-16. 402-2 and the rotation speed of each of the second rotor blades 12 are controlled.
  • control device 13 is supplied with power from a storage battery (not shown).
  • a storage battery is fixed to the fuselage 10 .
  • the storage battery may be fixed to the fixed wing 20-j. Details of the control device 13 will be described later.
  • the four pairs of first rotor blades 402-1 and 402-2 respectively provided in the four rotor blade modules 40-1 to 40-4 have four quadrant regions, It is located in a quadrant area (in other words, the first quadrant area) that is the front side of the aircraft 1 and the left side of the aircraft 1 .
  • the four pairs of first rotor blades 402-1 and 402-2 respectively provided in the four rotor blade modules 40-5 to 40-8 are located on the front side of the aircraft 1 in the four quadrant regions and 1 (in other words, the second quadrant).
  • the four pairs of first rotor blades 402-1 and 402-2 respectively provided in the four rotor blade modules 40-9 to 40-12 are located on the rear side of the aircraft 1 in the four quadrant regions and 1 (in other words, the third quadrant).
  • the four pairs of first rotor blades 402-1 and 402-2 respectively provided in the four rotor blade modules 40-13 to 40-16 are located on the rear side of the aircraft 1 in the four quadrant regions and 1 (in other words, the fourth quadrant).
  • the fact that the first rotor blades 402-1 and 402-2 are positioned in the quadrant region means that the central axis of rotation on the plane of rotation of the first rotor blades 402-1 and 402-2 is positioned in the quadrant region. correspond to
  • the pair of first rotor blades 402-1 and 402-2 rotate in different directions.
  • FIG. 4 as indicated by the black arc-shaped arrow, for example, when the first rotor blade 402-1 of the rotor module 40-1 is viewed vertically downward, the aircraft 1 is: It rotates counterclockwise (in this example, the first rotation direction).
  • FIG. 4 as indicated by the white arcuate arrow, for example, the first rotor blade 402-2 of the rotor module 40-1 is positioned vertically downward when the aircraft 1 is viewed. , rotates clockwise (in this example, the second rotation direction).
  • the two first rotor blades 402-1 adjacent in the left-right direction of the aircraft 1 have different rotational directions, and the two first rotor blades 402-1 adjacent in the left-right direction of the aircraft 1 2 differ from each other in the direction of rotation. Also, in this example, the two first rotor blades 402-1 and 402-2 that are adjacent in the vertical direction of the aircraft 1 rotate in different directions.
  • the central axis CA of rotation is not tilted with respect to the vertical direction (in this example, the central axis CA of rotation is vertical). direction).
  • the upward direction and the downward direction in FIG. 5 correspond to the vertically upward direction and the vertically downward direction, respectively.
  • the left and right directions in FIG. 5 correspond to the forward and rearward directions of the aircraft 1, respectively.
  • the rotation center vector CV is a unit vector having a direction along the rotation center axis CA of the first rotor blade 402-1 and having a vertically upward component.
  • not tilting the central axis CA of rotation with respect to the vertical direction includes slightly tilting the central axis CA of rotation with respect to the vertical direction.
  • the slight inclination of the central axis CA of rotation with respect to the vertical direction corresponds to the inclination angle of the central axis CA of rotation with respect to the vertical direction being 3 degrees or less.
  • the central axis of rotation of the first rotor blades 402-1 and 402-2 (for example, the first rotor blade 402-1 of the rotor module 40-1) is marked with a symbol ND.
  • the fact that the white circles are drawn indicates that the central axes of rotation of the first rotor blades 402-1 and 402-2 are not inclined with respect to the vertical direction.
  • the center of gravity of the aircraft 1 among the four pairs of first rotor blades 402-1 and 402-2 located in the quadrant region 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 rotor
  • the central axis of rotation of the first rotor blade 402-2 of the blade module 40-9 and the first rotor blade 402-2 of the rotor module 40-16) is not inclined with respect to the vertical direction.
  • the aircraft 1 in each of the four quadrant regions, the aircraft 1
  • the first rotor blade having the shortest distance from the center of gravity CG of the rotor (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 blade module 40-12, and the first rotor blade 402-1 of the rotor blade module 40-13) do not tilt their central axes of rotation with respect to the vertical direction.
  • the central axis CA of rotation of the first rotor 402-2 of the rotor module 40-1 is inclined with respect to the vertical direction.
  • the first rotor 402-2 of the rotor module 40-1 is tilted with respect to the vertical direction so that the central axis CA of rotation has a position behind the aircraft 1 as it goes upwards of the aircraft 1. (in other words, the aircraft 1 is tilted rearward).
  • the center-of-rotation vector CV of the first rotor 402-2 of the rotor module 40-1 consists of a backward component and an upward component of the aircraft 1 .
  • the inclination of the central axis CA of rotation with respect to the vertical direction means that the inclination angle of the central axis CA of rotation with respect to the vertical direction (in other words, the inclination angle) is an angle of 5 degrees to 20 degrees. correspond to something. If the tilt 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. If the tilt angle is 8 degrees or more, the torque in the yaw direction can be sufficiently increased. Moreover, when the inclination angle is 16 degrees or less, the upward thrust can be sufficiently increased.
  • the central axis of rotation of the first rotor blades 402-1 and 402-2 (for example, the first rotor blade 402-2 of the rotor blade module 40-1) is labeled BD.
  • the fact that white downward arrows are drawn indicates that the central axes of rotation of the first rotor blades 402-1 and 402-2 are inclined rearward of the aircraft 1 with respect to the vertical direction.
  • the first rotor 402-2 of rotor module 40-1 the first rotor 402-2 of rotor module 40-3, and the first rotor 402-2 of rotor module 40-6.
  • the wing 402-1 has its center axis of rotation inclined rearward of the aircraft 1 with respect to the vertical direction.
  • a symbol FD The fact that the white upward arrows are drawn means that the central axis of rotation of the first rotor blades 402-1 and 402-2 moves upwards of the aircraft 1 with respect to the vertical direction. Represents tilting to have a forward position (in other words tilting forward of the aircraft 1).
  • the center-of-rotation vector CV of the first rotor 402-2 of the rotor module 40-2 consists of a forward component of the aircraft 1 and an upward component of the aircraft 1 .
  • first rotor 402-2 of rotor module 40-2 the first rotor 402-2 of rotor module 40-7, and the first rotor 402-2 of rotor module 40-9.
  • Wing 402-1 has its central axis of rotation inclined forward of aircraft 1 with respect to the vertical direction.
  • the center-of-rotation vector CV of the first rotor 402-1 of the rotor module 40-2 consists of a leftward component of the aircraft 1 and an upward component of the aircraft 1 .
  • the first rotor 402-1 of rotor module 40-2 the first rotor 402-1 of rotor module 40-4, and the first rotor 402-1 of rotor module 40-6.
  • the wing 402-2 has its center axis of rotation inclined to the left of the aircraft 1 with respect to the vertical direction.
  • the symbol RD The fact that the white-painted rightward arrows with It represents a tilting to have a rightward position (in other words, tilting to the right of the aircraft 1).
  • the center-of-rotation vector CV of the first rotor 402-1 of the rotor module 40-3 consists of a rightward component of the aircraft 1 and an upward component of the aircraft 1 .
  • the first rotor 402-1 of rotor module 40-3 the first rotor 402-1 of rotor module 40-5, and the first rotor 402-1 of rotor module 40-7.
  • the wing 402-2 has its central axis of rotation inclined to the right of the aircraft 1 with respect to the vertical direction.
  • the rotation center vector of the first rotor blades 402-1 and 402-2 CV is a torque that causes the aircraft 1 to rotate in the direction opposite to the direction of rotation of the first rotor blades 402-1 and 402-2 by the thrust generated by the first rotor blades 402-1 and 402-2. has a direction in which
  • the control device 13 controls the aircraft 1 as follows. In each of the four quadrants, the control device 13 controls the first rotor blades 402-1 and 402-2 located in the quadrant and rotating in the same direction so that they have the same rotation speed. do.
  • the controller 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 direction of rotation is counterclockwise.
  • q represents an integer of 4p-3
  • the first rotor 402-2 of the rotor module 40-r (r represents an integer of 4p-2)
  • the first rotor 402-1 of the rotor module 40-s (s represents an integer of 4p-1)
  • the first rotor module 40-t (t represents an integer of 4p).
  • the rotor blade 402-2 is controlled to have the u-th (u represents an integer of 2p-1) number of revolutions.
  • control device 13 controls the first rotor blade 402-2 of the rotor blade module 40-q and the first rotor blade module 40-r of the rotor blade module 40-r, which are located in the p-th quadrant region and the direction of rotation is clockwise.
  • the rotor blade 402-1, the first rotor blade 402-2 of the rotor blade module 40-s, and the first rotor blade 402-1 of the rotor blade module 40-t are the v-th (v represents an integer of 2p .) control to have the number of revolutions.
  • the control device 13 controls the magnitude of the clockwise yaw torque generated by the 16 pairs of first rotor blades 402-1 and 402-2 provided in the 16 rotor blade modules 40-1 to 40-16, respectively. , and the magnitude of the yaw counterclockwise torque match each other, the first to eighth rotation speeds are determined.
  • the control device 13 causes at least one of the 16 pairs of first rotor blades 402-1 and 402-2 provided in the 16 rotor blade modules 40-1 to 40-16 to operate. Even if it stops, the above-mentioned control is performed.
  • the aircraft 1 rotates each of the 16 pairs of first rotor blades 402-1 and 402-2 provided in the 16 rotor blade modules 40-1 to 40-16. This generates a thrust that propels the aircraft 1 upward. As a result, the aircraft 1 takes off by flying vertically upward (in other words, ascending).
  • 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 rotating the 16 pairs of first rotor blades 402-1 and 402-2 provided in the 16 rotor blade modules 40-1 to 40-16, respectively. As a result, the aircraft 1 flies horizontally (in other words, cruises).
  • the aircraft 1 rotates each of the 16 pairs of first rotor blades 402-1 and 402-2 respectively provided in the 16 rotor blade modules 40-1 to 40-16. This generates a thrust that propels the aircraft 1 upward.
  • 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).
  • the aircraft 1 stops operating the first rotor blade 402 By increasing the rotational speed of at least some of the first rotor blades 402-1 and 402-2 other than -1 and 402-2, the upward thrust lost due to the stoppage of motion is compensated. At this time, the aircraft 1 controls the rotational speeds of the first rotor blades 402-1 and 402-2 so that the magnitude of the yaw clockwise torque and the magnitude of the yaw counterclockwise torque match each other. Thereby, the aircraft 1 can continue vertical flight.
  • 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 in the left-right direction from the fuselage 10, and a plurality of first rotor wings 402-1 and 402-2. Prepare.
  • the plurality of first rotor blades 402-1 and 402-2 are supported by at least one pair of fixed blades 20-1 to 20-4 and are rotationally driven to generate thrust for propelling the aircraft 1 vertically upward. do.
  • the plurality of first rotor blades 402-1 and 402-2 are arranged on a first plane P1 perpendicular to the left-right direction of the aircraft 1 and passing through the center of gravity CG of the aircraft 1, and a plane P1 perpendicular to the longitudinal direction of the aircraft 1 and passing through the center of gravity of the aircraft 1. At least two are located in each of the four quadrant regions defined by the second plane P2 passing through the CG.
  • each of the four quadrant regions at least one of the at least two first rotor blades 402-1 and 402-2 located in the quadrant region is rotated
  • the central axis CA is not inclined with respect to the vertical direction, and the other first rotor blades 402-1 and 402-2 of the at least two first rotor blades 402-1 and 402-2 are rotated
  • the central axis CA is inclined with respect to the vertical direction.
  • each quadrant region there are first rotor blades 402-1 and 402-2 whose central axis CA of rotation is not inclined with respect to the vertical direction. Only the upward thrust of the first rotor blades 402-1 and 402-2 changes as the number of revolutions 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 prevent the rotational speeds of the first rotor blades 402-1 and 402-2 from becoming excessively high.
  • the center of gravity CG of the aircraft 1 of the at least two first rotors 402-1 and 402-2 located in the quadrants The first rotor blades 402-1 and 402-2 having the longest distance from the center axis CA of rotation do not tilt with respect to the vertical direction.
  • the central axis CA of rotation of the first rotor blades 402-1 and 402-2 which has the longest distance from the center of gravity CG of the aircraft 1, does not tilt with respect to the vertical direction. Therefore, even when the first rotor blades 402-1 and 402-2 stop operating, the torque in the yaw direction that is lost due to the stopping of the operation can be suppressed. As a result, it is possible to suppress fluctuations in the yaw direction of the attitude of the aircraft 1 .
  • the center of gravity CG of the aircraft 1 of the at least two first rotors 402-1 and 402-2 located in the quadrants The first rotor blades 402-1 and 402-2 having the shortest distance from the center axis CA of rotation do not tilt with respect to the vertical direction.
  • the first rotor when the central axis of rotation of the first rotor, which has the position closest to the center of gravity of the aircraft, is tilted with respect to the vertical direction, the first rotor will generate yaw unless the tilt is relatively large.
  • the torque in the direction cannot be large enough.
  • the greater the extent to which the central axis of rotation of the first rotor is inclined with respect to the vertical direction the smaller the upward thrust generated by the first rotor.
  • 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. Two pairs of fixed wings 20-1 to 20-4 are located in four quadrant regions, respectively.
  • the plurality of first rotor blades 402-1 and 402-2 can be dispersed in the longitudinal direction of the aircraft 1. As a result, when the aircraft 1 flies in the vertical direction, it is possible to prevent the attitude of the aircraft 1 from fluctuating.
  • the central axis of rotation of the first rotor blades 402-1 and 402-2 located in the quadrant region is The number of first rotor blades 402-1 and 402-2 that are not inclined with respect to the vertical direction may be one, or three to seven.
  • the aircraft 1 of the modified example of the first embodiment may be configured such that the second rotor blades 12 are rotationally driven by power generated by the internal combustion engine instead of or in addition to electric power. good. Further, the aircraft 1 of the modified example of the first embodiment may have a jet engine instead of or in addition to the second rotor 12 .
  • At least one of the plurality of first rotors 402-1 and 402-2 section may generate thrust that propels the aircraft 1 forward.
  • at least some of the plurality of first rotor blades 402-1 and 402-2 may be configured to change the direction of the central axis of rotation.
  • the aircraft 1 of the modified example of the first embodiment may be configured to include a power generation device and to charge a storage battery with electric power generated by the power generation device.
  • the central axis of rotation is vertical Tilt to the direction.
  • the first rotor blade 402-2 of the rotor module 40-4 and the first rotor blade 402-2 of the rotor module 40-5 are arranged such that the central axis of rotation of the aircraft 1A tilt forward.
  • 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 are arranged such that the central axis of rotation is positioned to the rear of the aircraft 1A with respect to the vertical direction. tilt to
  • the aircraft 1A of the first modified example of the first embodiment can also achieve the same actions and effects as the aircraft 1 of the first embodiment.
  • the first rotor blade 402-1 of the rotor module 40-1 and the first rotor blade 402-2 of the rotor module 40-9 are arranged such that the central axis of rotation of the aircraft 1B tilts to the right of 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 their central axes of rotation on the left side of the aircraft 1B with respect to the vertical direction. tilt towards.
  • the aircraft 1B of the second modified example of the first embodiment can also achieve the same actions and effects as the aircraft 1 of the first embodiment.
  • the aircraft of the third modified example of the first 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 directed toward the center of the rotor module. They differ in The following description focuses on the points of difference.
  • the same reference numerals as those used in the first embodiment designate the same or substantially similar components.
  • the first rotor 402-2 of the rotor module 40-2 and the first rotation of the rotor module 40-10 Wing 402-1 has its central axis of rotation inclined to the right of aircraft 1C with respect to the vertical direction.
  • the first rotor 402-2 of the rotor module 40-7 and the first rotor 402-1 of the rotor module 40-15 have their central axes of rotation on the left side of the aircraft 1C with respect to the vertical direction. tilt towards.
  • the aircraft 1C of the third modification of the first embodiment can also achieve the same actions and effects as the aircraft 1 of the first embodiment.
  • the center of rotation vector CV has a component directed toward the central portion of the rotor modules 40-1 to 40-16 in the longitudinal direction of the aircraft 1C
  • the first rotor blades 402-1 and 402-2 are aligned with the support body 401.
  • the angle at which the central axis of rotation is inclined with respect to the vertical direction cannot be made sufficiently large.
  • the rotation center vector CV of any of the first rotor blades 402-1 and 402-2 is the center of the rotor modules 40-1 to 40-16 in the longitudinal direction of the aircraft 1C. It does not have a component directed to 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.
  • the aircraft of the fourth modification of the first embodiment differs from the aircraft of the first embodiment in the number of rotor modules provided in the aircraft.
  • the following description focuses on the points of difference.
  • the same or substantially similar parts are given the same reference numerals as those used in the first embodiment.
  • an aircraft 1D according to the fourth modification of the first embodiment has the It has eight rotor modules 40-1 to 40-8.
  • two rotary wing modules 40-1 and 40-2 are fixed to the front fixed wing 20-1.
  • Two rotary wing modules 40-3, 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 rotor modules 40-7, 40-8 are fixed to the rear fixed wing 20-4.
  • the position with the longest distance from the center of gravity CG of the aircraft 1D is (In this example, the first rotor 402-1 of the rotor module 40-1, the first rotor 402-1 of the rotor module 40-4, the first rotor of the rotor module 40-5
  • the central axis of rotation of the blade 402-2 and the first rotor blade 402-2 of the rotor blade module 40-8 is not inclined with respect to the vertical direction.
  • the position with the shortest distance from the center of gravity CG of the aircraft 1D is (In this example, the first rotor 402-2 of the rotor module 40-2, the first rotor 402-2 of the rotor module 40-3, the first rotor of the rotor module 40-6
  • the central axis of rotation of the blade 402-1 and the first rotor blade 402-1) of the rotor blade module 40-7 is not inclined with respect to the vertical direction.
  • the first rotor blade 402-1 of the rotor module 40-2 and the first rotor blade 402-2 of the rotor module 40-6 are arranged such that the central axis of rotation of the aircraft 1D tilts to the left of Further, the first rotor 402-1 of the rotor module 40-3 and the first rotor 402-2 of the rotor module 40-7 have their central axes of rotation on the right side of the aircraft 1D with respect to the vertical direction. tilt towards.
  • first rotor blade 402-2 of the rotor module 40-1 and the first rotor blade 402-2 of the rotor module 40-4 are arranged such that the central axis of rotation of the aircraft 1D tilts backwards.
  • first rotor blade 402-1 of the rotor module 40-5 and the first rotor blade 402-1 of the rotor module 40-8 are arranged such that the central axis of rotation is in front of the aircraft 1D with respect to the vertical direction. tilt to
  • the aircraft 1D of the fourth modified example of the first embodiment can also achieve the same actions and effects as the aircraft 1 of the first embodiment. Note that in each of the four quadrants, of the two pairs of first rotor blades 402-1 and 402-2 located in the quadrant, the position having the longest distance from the center of gravity CG of the aircraft 1D The central axes of rotation of the single rotor blades 402-1 and 402-2 may be inclined with respect to the vertical direction.
  • the position having the shortest distance from the center of gravity CG of the aircraft 1D may be inclined with respect to the vertical direction.
  • 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 center-of-rotation vector does not have a component in the backward direction of the aircraft.
  • the following description focuses on the points of difference.
  • the same reference numerals as those used in the first embodiment designate the same or substantially similar components.
  • 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 rotor 402-1 of the rotor module 40-10 is inclined to the left of the aircraft 1E with respect to the vertical direction.
  • the first rotor blade 402-2 of the rotor blade module 40-6, the first rotor blade 402-2 of the rotor blade module 40-8, and the first rotor blade 402-1 of the rotor blade module 40-15 are The central axis of rotation is tilted to the right of the aircraft 1E with respect to the vertical direction.
  • the aircraft 1E has the rotation center vector
  • the CV is greater than the number of first rotor blades 402-1 and 402-2 that have a backward component of aircraft 1E (zero in this example). Therefore, the sum of the center-of-rotation vectors CV for all the first rotor blades 402-1 and 402-2 of the aircraft 1E has a component in the forward direction of the aircraft 1E.
  • the aircraft 1E when the operating state is the takeoff/landing state, the aircraft 1E flies with its nose raised (in other words, pitched up) more than when the operating state is the cruise state.
  • the position of the front end of the aircraft 1E with respect to the center of gravity CG of the aircraft 1E is positioned vertically higher than when the operating state is the cruising state. , tilted with respect to the horizontal plane.
  • the plurality of first rotor blades 402-1 and 402-2 can generate thrust to propel the aircraft 1E forward.
  • the speed in the forward direction of the aircraft 1E can be quickly increased when the operating state transitions from the takeoff state to the cruising state.
  • the operating state can be rapidly changed from the takeoff state to the cruising state.
  • the aircraft 1E of the second embodiment can also achieve the same actions and effects as the aircraft 1 of the first embodiment. Furthermore, in the aircraft 1E of the second embodiment, the sum of the center-of-rotation vectors CV for the plurality of first rotor blades 402-1 and 402-2 has a component in the forward direction of the aircraft 1E.
  • the central axis of rotation is vertical Tilt to the direction.
  • the first rotor blade 402-2 of the rotor module 40-4 and the first rotor blade 402-2 of the rotor module 40-5 are arranged such that the central axis of rotation of the aircraft 1F tilt forward.
  • 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 are arranged such that the central axis of rotation is positioned to the rear of the aircraft 1F with respect to the vertical direction. tilt to
  • the aircraft 1F of the first modified example of the second embodiment can also achieve the same actions and effects as the aircraft 1E of the second embodiment.
  • the first rotor blade 402-1 of the rotor module 40-1 and the first rotor blade 402-2 of the rotor module 40-9 are arranged such that the center axis of rotation of the aircraft 1G tilts to the right of 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 on the left side of the aircraft 1G with respect to the vertical direction. tilt towards.
  • the aircraft 1G of the second modified example of the second embodiment can also achieve the same actions and effects as the aircraft 1E of the second embodiment.
  • the aircraft of the third modification of the second embodiment differs from the aircraft of the second embodiment in that the central axes of rotation of all the first rotor blades are inclined with respect to the vertical direction.
  • the following description focuses on the points of difference.
  • the same reference numerals as those used in the second embodiment designate the same or substantially similar components.
  • the central axis of rotation is vertical Tilt to the direction.
  • the first rotor blade 402-2 of the rotor module 40-4 and the first rotor blade 402-2 of the rotor module 40-5 are arranged such that the central axis of rotation of the aircraft 1H tilt forward.
  • 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 are arranged such that the central axis of rotation is positioned to the rear of the aircraft 1H with respect to the vertical direction. tilt to
  • the central axis of rotation is inclined with respect to the vertical direction.
  • the first rotor blade 402-1 of the rotor module 40-1 and the first rotor blade 402-2 of the rotor module 40-9 are arranged such that the central axis of rotation of the aircraft 1H tilts to the right of 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 their central axes of rotation on the left side of the aircraft 1H with respect to the vertical direction. tilt towards.
  • the aircraft 1H of the third modified example of the second embodiment can also achieve the same actions and effects as the aircraft 1E of the second embodiment.
  • the aircraft of the fourth modification of the second embodiment differs from the aircraft of the second embodiment in the number of first rotor blades whose rotation center vector has a component in the forward direction of the aircraft.
  • the following description focuses on the points of difference.
  • the same reference numerals as those used in the second embodiment denote the same or substantially similar components.
  • the central axis of rotation of the first rotor 402-2 of the rotor module 40-15 is tilted forward of the aircraft 1I with respect to the vertical direction.
  • the aircraft 1I is configured such that the number (12 in this example) of the first rotor blades 402-1 and 402-2 whose center-of-rotation vector CV has a component in the forward direction of the aircraft 1I is equal to the center-of-rotation vector
  • the CV is greater than the number of first rotor blades 402-1 and 402-2 (zero in this example) that have a backward component of aircraft 1I. Therefore, the sum of the center-of-rotation vectors CV for all the first rotor blades 402-1 and 402-2 of the aircraft 1I has a component in the forward direction of the aircraft 1I.
  • the aircraft 1I of the fourth modified example of the second embodiment can also achieve the same actions and effects as the aircraft 1E of the second embodiment.
  • the first rotor 402-1 and 402-2 and the number of first rotor blades 402-1, 402-2 whose center of rotation vector CV has a backward component of aircraft 1I can be increased.
  • the component in the forward direction of the aircraft 1I which is the sum of the rotation center vectors CV for all the first rotor blades 402-1 and 402-2 of the aircraft 1I, can be increased. Therefore, according to the aircraft 1I, it is possible to increase the thrust that propels the aircraft 1I forward, which is generated by the plurality of first rotor blades 402-1 and 402-2.
  • Second control signal lines 20-1, 20- 2 front fixed wings 20-3, 20-4 rear fixed wings 40-1 to 40-16 rotor module 401 support 402-1, 402-2 first rotor 403-1, 403-2 electric motor 404-1, 404-2 Speed controllers 405-1, 405-2 Controllers 406-1, 406-2 First control signal line CA Central axis CG Center of gravity CV Rotation center vector P1 First plane P2 Second plane

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

La présente invention concerne un aéronef 1 qui décolle à la verticale. L'aéronef 1 comprend : un fuselage 10 ; une ou plusieurs paires d'ailes fixes (20-1 à 20-4) qui s'étendent à partir du fuselage dans la direction droite/gauche ; et une pluralité de premières pales de rotor (402-1, 402-2). Les premières pales de rotor sont supportées sur la ou les paires d'ailes fixes et sont entraînées en rotation, pour générer ainsi une poussée qui propulse l'aéronef verticalement vers le haut. Au moins deux premières pales de rotor, parmi la pluralité de premières pales de rotor, sont disposées dans chacune des quatre régions de quadrant divisées par un premier plan P1 qui est perpendiculaire à la direction droite/gauche de l'aéronef et passe par le centre de gravité de l'aéronef, et un second plan P2 qui est perpendiculaire à la direction avant/arrière de l'aéronef et passe par le centre de gravité de l'aéronef. Dans chacune des quatre régions de quadrant, au moins l'une des au moins deux premières pales de rotor, qui sont disposées dans ladite région de quadrant, a un axe central de rotation non incliné par rapport à la direction verticale, et le reste des au moins deux premières pales de rotor a un axe central de rotation incliné par rapport à la direction verticale.
PCT/JP2021/007226 2021-02-25 2021-02-25 Aéronef WO2022180755A1 (fr)

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PCT/JP2021/007226 WO2022180755A1 (fr) 2021-02-25 2021-02-25 Aéronef
JP2023501932A JP7345226B2 (ja) 2021-02-25 2021-02-25 航空機

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090008499A1 (en) * 2007-02-16 2009-01-08 Donald Orval Shaw Modular flying vehicle
US20180215465A1 (en) * 2017-01-31 2018-08-02 Joseph Raymond RENTERIA Rotatable thruster aircraft with separate lift thrusters
US20190329883A1 (en) * 2018-04-27 2019-10-31 X Development Llc Counter-rotating propellers for aerial vehicle

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9764833B1 (en) * 2016-10-18 2017-09-19 Kitty Hawk Corporation Ventilated rotor mounting boom for personal aircraft
JP2021506655A (ja) * 2017-12-22 2021-02-22 ヴェルデゴ エアロ，インコーポレイテッド 航空機用翼およびロータベクトル化システム
EP3730404B1 (fr) * 2019-04-23 2021-08-18 LEONARDO S.p.A. Aeronef à decollage et atterrissage vertical et procede de commande

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090008499A1 (en) * 2007-02-16 2009-01-08 Donald Orval Shaw Modular flying vehicle
US20180215465A1 (en) * 2017-01-31 2018-08-02 Joseph Raymond RENTERIA Rotatable thruster aircraft with separate lift thrusters
US20190329883A1 (en) * 2018-04-27 2019-10-31 X Development Llc Counter-rotating propellers for aerial vehicle

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