WO2023182127A1 - Flying apparatus - Google Patents

Flying apparatus Download PDF

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Publication number
WO2023182127A1
WO2023182127A1 PCT/JP2023/010251 JP2023010251W WO2023182127A1 WO 2023182127 A1 WO2023182127 A1 WO 2023182127A1 JP 2023010251 W JP2023010251 W JP 2023010251W WO 2023182127 A1 WO2023182127 A1 WO 2023182127A1
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WO
WIPO (PCT)
Prior art keywords
arm
rotor
flight device
flight
section
Prior art date
Application number
PCT/JP2023/010251
Other languages
French (fr)
Japanese (ja)
Inventor
満 石川
孝人 関田
Original Assignee
株式会社石川エナジーリサーチ
株式会社クボタ
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
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Application filed by 株式会社石川エナジーリサーチ, 株式会社クボタ filed Critical 株式会社石川エナジーリサーチ
Publication of WO2023182127A1 publication Critical patent/WO2023182127A1/en

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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
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports

Definitions

  • the present invention relates to a flight device.
  • Flight devices capable of flying unmanned in the air have been known for some time. Such flight devices enable flight through the air using the thrust of a rotor that rotates around a vertical axis.
  • Possible fields of application of such flight devices include, for example, the transportation field, the surveying field, and the photography field.
  • a flight device When a flight device is applied to such a field, surveying equipment and photographing equipment are attached to the flight device.
  • By applying the flying device to such fields it is possible to fly the flying device into areas where humans cannot access, and perform transportation, photographing, and surveying of such areas.
  • An invention related to such a flight device is described in, for example, Patent Document 1.
  • a rotor is attached to the tip of an arm that extends outward from the aircraft body.
  • the lift generated by the rotation of the rotor causes the flight device to float in the air.
  • the arm generally has a substantially rod shape, the inner end of which is connected to the fuselage, and the outer end of which the rotor is attached. Therefore, if the connection strength between the inner end of the arm and the aircraft is not strong enough, the arm will be inadvertently deformed from the connection during flight, making it difficult to accurately control the position and orientation during flight. occurs.
  • the present invention has been made in view of the above circumstances, and its purpose is to provide a flight device whose arm can be firmly connected to the aircraft body.
  • the flight device of the present invention includes a fuselage, an arm, and a rotor, and the arm has a first arm portion and a second arm portion, and the first arm portion has one end thereof.
  • the rotor is disposed, the other end side is connected to the body, and the second arm part has one end side connected to the first arm part, and the other end side is a part to which the first arm part of the body is connected. It is characterized by being connected to the lower side.
  • the first arm portion has a first end that is an outer end, and a second end and a third end that are inner ends
  • the second arm portion has a fourth end portion that is an outer end portion and a fifth end portion that is an inner end portion, and the fifth end portion of the second arm portion is connected to the first end portion. It is characterized in that it is arranged on a lower side than the second end and the third end of the arm part.
  • the first arm portion is rotatably connected to the aircraft body with the second end portion and the third end portion as rotation centers, and the first arm portion is rotatably connected to the aircraft body, and
  • the fifth end portion is characterized in that it is removably connected to the body.
  • the second arm section has an adjustment section that can change the dimension in the length direction.
  • the flight device of the present invention is characterized in that one end side of the second arm portion is connected to an intermediate portion of the first arm portion.
  • the flight device of the present invention is characterized in that the rotating surface of the rotor is inclined outwardly and upwardly.
  • the flight device of the present invention is characterized in that it further includes a wing section attached to the first arm section.
  • the flight device of the present invention includes a fuselage, an arm, and a rotor, and the arm has a first arm portion and a second arm portion, and the first arm portion has one end thereof.
  • the rotor is disposed, the other end side is connected to the body, and the second arm part has one end side connected to the first arm part, and the other end side is a part to which the first arm part of the body is connected. It is characterized by being connected to the lower side.
  • the first arm portion can be reinforced by the second arm portion, preventing the arm from being inadvertently deformed during flight, and accurately controlling the position and orientation of the aircraft during flight. can be controlled.
  • the first arm portion has a first end that is an outer end, and a second end and a third end that are inner ends
  • the second arm portion has a fourth end portion that is an outer end portion and a fifth end portion that is an inner end portion, and the fifth end portion of the second arm portion is connected to the first end portion. It is characterized in that it is arranged on a lower side than the second end and the third end of the arm part.
  • the inner end of the arm portion is supported at three points by the second end, the third end, and the fifth end. Thereby, the inner end portion of the arm portion can be firmly attached to the aircraft body.
  • the first arm portion is rotatably connected to the aircraft body with the second end portion and the third end portion as rotation centers, and the first arm portion is rotatably connected to the aircraft body, and
  • the fifth end portion is characterized in that it is removably connected to the body.
  • the arm portion can be bent relative to the aircraft body when stored, and the entire device can be stored and transported in a compact state.
  • the second arm section has an adjustment section that can change the dimension in the length direction.
  • the angle of the arm with respect to the horizontal plane can be changed by changing the length of the second arm portion using the adjustment portion.
  • the flight device of the present invention is characterized in that one end side of the second arm portion is connected to an intermediate portion of the first arm portion.
  • the intermediate portion of the second arm portion can be reinforced by the first arm portion, and the rigidity of the entire arm can be increased.
  • the flight device of the present invention is characterized in that the rotating surface of the rotor is inclined outwardly and upwardly. According to the flight device of the present invention, the thrust generated by the rotation of the rotor is directed upward and inward, thereby stabilizing the attitude during flight.
  • the flight device of the present invention is characterized in that it further includes a wing section attached to the first arm section. According to the flight device of the present invention, lift can be obtained by the wings during flight, and the energy required for flight can be reduced.
  • FIG. 1 is a perspective view showing a flight device according to an embodiment of the present invention.
  • 1 is a diagram showing a flight device according to an embodiment of the present invention, and is a block diagram showing a connection configuration of each part.
  • FIG. FIG. 1 is a perspective view showing a rotor and an arm of a flight device according to an embodiment of the present invention.
  • FIG. 1 is a perspective view showing an arm of a flight device according to an embodiment of the present invention.
  • FIG. 2 is a side view showing a rotor and an arm of a flight device according to an embodiment of the present invention.
  • FIG. 2 is a perspective view showing the rotor and arm of the flight device according to the embodiment of the present invention when it is stored.
  • FIG. 3 is a perspective view from above of a flight device according to another embodiment of the present invention.
  • FIG. 3 is a perspective view of a flight device according to another embodiment of the present invention, seen from below.
  • FIG. 7 is a perspective view showing a stored state of a flight device according to another embodiment of the present invention.
  • FIG. 3 is a perspective view showing a flight device according to still another embodiment of the present invention.
  • FIG. 7 is a perspective view showing a stored state of a flight device according to still another embodiment of the present invention.
  • FIG. 1 is a perspective view showing the flight device 10.
  • the flight device 10 mainly includes a fuselage 11, an arm 12, and a rotor 13.
  • the flying device 10 is also called a drone.
  • the flying device 10 may be an electric drone whose driving source is only a motor that rotates due to power supplied from a battery, or a hybrid drone whose driving source is an engine and a motor.
  • a hybrid drone a series hybrid drone or a parallel hybrid drone can be adopted.
  • an engine drives a generator
  • a motor receiving power from the generator rotates the rotor 13.
  • the parallel hybrid drone has a mechanical drive system that mechanically rotates the rotor 13 using an engine, in addition to an electric drive system that rotates the rotor 13 using the motor.
  • the fuselage 11 is a main body that supports each device that makes up the flight device 10.
  • the fuselage 11 is constituted by a rod-shaped member made of aluminum, magnesium, or the like.
  • the body 11 includes an upper frame section 111, a middle frame section 112, and a lower frame section 113.
  • the upper frame section 111 and the middle frame section 112 are frame-shaped members that have a substantially square shape when viewed from above.
  • the lower frame portion 113 is a member that has a substantially circular ring shape when viewed from above.
  • the upper frame part 111, the middle frame part 112, and the lower frame part 113 are connected to each other by a rod-shaped member extending in the vertical direction.
  • Four leg portions 114 extend downward from the lower frame portion 113.
  • the leg portion 114 is a portion that comes into contact with the ground when the flight device 10 is in a landing state.
  • a battery unit 25 and the like, which will be described later, are housed inside the fuselage 11.
  • the arm 12 is a member that extends from the body 11 toward the surroundings. Like the body 11, the arm 12 is made of a metal material such as aluminum or magnesium. The arm 12 extends from the body 11 in all directions. The specific configuration of the arm 12 will be described in detail with reference to FIG. 3A and the like.
  • the rotor 13 is arranged on the tip side of the arm 12. As the rotor 13 rotates, upward thrust is generated, and the flight device 10 floats in the air due to the thrust.
  • FIG. 2 is a diagram showing the flight device 10, and is a block diagram showing the connection configuration of each part.
  • the flight device 10 mainly includes a control device 21, a battery unit 25, an output control device 23, a rotor motor 17, a sensor 18, and a communication device 22.
  • a control device 21 mainly includes a control device 21, a battery unit 25, an output control device 23, a rotor motor 17, a sensor 18, and a communication device 22.
  • the flying device 10 is an electric drone is shown here, if the flying device 10 is a hybrid drone, an engine and a generator are separately provided.
  • the control device 21 includes a CPU, ROM, RAM, etc.
  • the control device 21 controls the behavior of each device constituting the flight device 10, for example, the rotation speed of each rotor 13, based on inputs from the sensor 18 and the communication device 22.
  • the battery unit 25 is, for example, a rechargeable lithium ion battery.
  • the power discharged from the battery unit 25 is supplied to the output control device 23.
  • the output control device 23 is provided corresponding to each rotor 13. As the output control device 23, an inverter that converts DC power supplied from the battery unit 25 into AC power at a predetermined frequency can be employed.
  • the rotor motor 17 is provided corresponding to the rotor 13 described above.
  • the rotor motor 17 rotates the rotor 13 described above using electric power supplied from the output control device 23 .
  • the sensor 18 is a sensor including, for example, a gyro sensor, an acceleration sensor, an atmospheric pressure sensor, an ultrasonic sensor, a GPS, and the like.
  • the communication device 22 is connected wirelessly or wired to a controller operated by an operator. When the operator operates the controller, a command indicating the operation is transmitted to the communication device 22.
  • the control device 21 adjusts the rotation of each rotor motor 17 based on the command received by the communication device 22, and controls the position and orientation of the flight device 10.
  • the operation of the flight device 10 will be briefly explained.
  • the flight device 10 is operated in a landing state, a takeoff state, a hovering state, an ascending/descending state, or a horizontal movement state.
  • the flight device 10 In the landing state, the flight device 10 is on the ground. In this state, the rotor 13 does not rotate.
  • the flight device 10 moves away from the ground plane and rises due to the thrust generated by the rotation of the rotor 13.
  • the flight device 10 supplies power from the battery unit 25 to the rotor motor 17 via the output control device 23 based on input information from the control device 21 and the sensor 18 to rotate the rotor motor 17. , the flight device 10 is suspended in a predetermined position in the air.
  • the control device 21 controls each output control device 23 to maintain a predetermined rotational speed of the rotor motor 17 so that the flight device 10 can maintain a predetermined altitude and attitude.
  • the control device 21 raises or lowers the flight device 10 by controlling the rotation speed of the rotor motor 17. At this time as well, the control device 21 controls each output control device 23 so that the rotational speed of each rotor 13 is set to a predetermined value so that the flight device 10 can maintain a predetermined altitude and attitude.
  • control device 21 controls the output control device 23 to control the rotation speed of each rotor motor 17, thereby placing the flight device 10 in a tilted state and moving the flight device 10 in the horizontal direction. .
  • FIG. 3A is a perspective view showing the rotor 13 and arm 12 of the flight device 10.
  • FIG. 3B is a perspective view showing the arm 12 of the flight device 10.
  • a plate-shaped frame portion 115 is installed between the upper frame portion 111 and the middle frame portion 112.
  • the plate-shaped frame portion 115 is made of a plate-shaped metal plate.
  • the plate-shaped frame portions 115 are arranged so that the two plate-like frame portions 115 are substantially parallel to each other.
  • the arm 12 extends toward the left from the plate-shaped frame portion 115.
  • the arm 12 has a first arm section 121 and a second arm section 122.
  • the first arm portion 121 is disposed on the rotor 13 at one end, which is the left end, and is connected to the plate-shaped frame portion 115 of the fuselage 11 at the other end, which is the right end. Furthermore, when the first arm section 121 is viewed from above, it has the shape of the letter A, so the first arm section 121 is sometimes referred to as an A-arm.
  • the rotor 13 is disposed at the outer end of the first arm portion 121.
  • the rotor 13 includes an upper rotor 131 and a lower rotor 132.
  • the upper rotor 131 and the lower rotor 132 are arranged so as to overlap when viewed from above.
  • the upper rotor 131 and the lower rotor 132 rotate in opposite directions.
  • the second arm portion 122 has one outer end connected to the first arm portion 121 .
  • the inner end portion which is the other end side of the second arm portion 122, is connected to a lower side than a portion of the body 11 to which the first arm portion 121 is connected.
  • the inner end portion of the second arm portion 122 is connected to the middle portion of the leg portion 114.
  • the first arm portion 121 has a first end 1211 that is an outer end, and a second end 1212 and a third end 1213 that are inner ends.
  • the above-described upper rotor 131, lower rotor 132, and rotor motor 17 for rotating these are arranged on the upper and lower surfaces of the first end portion 1211.
  • the second end portion 1212 and the third end portion 1213 are ends of a substantially rod-shaped portion disposed at the right end of the first arm portion 121.
  • the first arm portion 121 is rotatably connected to the plate-shaped frame portion 115 with the second end portion 1212 and the third end portion 1213 as rotation centers.
  • a configuration for rotatably connecting a configuration can be adopted in which a through hole is provided in the member to be connected and a rotating shaft is inserted into the through hole. This configuration is the same for the connection portions between other members.
  • the second arm portion 122 has a fourth end 1221 that is an outer end and a fifth end 1222 that is an inner end.
  • the fifth end 1222 of the second arm section 122 is arranged lower than the second end 1212 and third end 1213 of the first arm section 121 .
  • the inner end of the arm 12 is supported at three points by the second end 1212, the third end 1213, and the fifth end 1222. Therefore, the inner end of the arm 12 can be firmly attached to the body 11.
  • the fourth end 1221 of the second arm part 122 is rotatably connected to the middle part of the first arm part 121.
  • the middle portion of the second arm portion 122 can be reinforced by the first arm portion 121, and the rigidity of the entire arm 12 can be increased.
  • the fifth end 1222 of the second arm 122 is easily detachably connected to the leg 114 shown in FIG. 3A.
  • the fifth end 1222 of the second arm 122 is connected to the leg 114 by a simple fastening means such as a screw structure that can be easily attached and detached by an operator. Therefore, when storing the flight device 10, the arm 12 can be easily bent with respect to the fuselage 11, and the entire device can be stored and transported in a compact state.
  • the second arm portion 122 has an adjustment portion 1223 that can change the lengthwise dimension.
  • the adjustment part 1223 connects the upper part and the lower part of the second arm part 122 in an expandable and retractable manner, for example, by a threaded structure.
  • FIG. 4 is a side view showing the rotor 13 and arm 12 of the flight device 10.
  • arrows indicate directions in which thrust is generated as the rotor 13 rotates.
  • the rotating surface 133 is a virtual surface formed by the rotation of the rotor 13.
  • the rotating surface 133 is arranged so as to be inclined outwardly and upwardly. If the rotating surface 133 of the rotor 13 is installed parallel to the extending direction of the second arm portion 122, both the rotor 13 and the second arm portion 122 are inclined upward toward the left. will be placed in
  • the inclination angle ⁇ at which the rotating surface 133 and the second arm portion 122 are inclined from the horizontal plane is determined by taking into consideration the thrust generated by the rotation of the rotor 13 and the weight of the flight device 10, and stabilizes the attitude of the flight device 10 during flight. This is considered to be within the scope of what is possible.
  • the thrust generated by the rotation of the rotor 13 is directed upward and inward, thereby stabilizing the attitude during flight. That is, even if the attitude of the flight device 10 during flight changes slightly due to disturbances such as wind, the thrust generated from the rotor 13 is directed upward and inward, so that the attitude of the flight device 10 in the air remains unchanged. is self-corrected, and the stability of the flight device 10 during flight can be improved.
  • the inclination angle ⁇ of the rotating surface 133 and the second arm portion 122 can be easily changed by adjusting the adjustment portion 1223. Specifically, the inclination angle ⁇ can be increased by operating the adjustment portion 1223 and lengthening the first arm portion 121. On the other hand, by operating the adjusting section 1223 in the opposite direction and shortening the first arm section 121, the inclination angle ⁇ can be made smaller.
  • FIG. 5 is a perspective view showing the rotor 13 and arm 12 of the flight device 10 when it is stored.
  • the arm 12 When storing the arm 12, first remove the fifth end 1222 of the second arm portion 122 from the leg portion 114. Thereafter, the arm 12 is bent upward and inward about the second end 1212 and the third end 1213 as rotation centers. As a result, the arm 12 and the rotor 13 do not protrude outward, and the flight device 10 can be stored and transported in an overall compact state.
  • FIG. 6A is a perspective view of the flight device 10 according to another embodiment seen from above.
  • FIG. 6B is a perspective view of the flight device 10 according to another embodiment viewed from below.
  • the configuration of the flight device 10 shown here is basically the same as that shown in FIG. 1, except that it includes a wing section 14.
  • the wing section 14 is a substantially plate-shaped member attached to the upper side of the arm 12. As described above, the arms 12 extend from the fuselage 11 toward the periphery, and each arm 12 has a wing section 14 attached to it. By having the wing section 14, lift can be obtained by the wing section 14 during flight, and the energy required for flight of the flight device 10 can be reduced.
  • the wing section 14 is attached above the arm 12 via a plurality of wing connection sections 15.
  • the wing connecting portion 15 is a columnar member extending upward from the arm 12.
  • FIG. 7 is a perspective view showing a stored state of the flight device 10 according to another embodiment.
  • the arm 12 is foldably connected to the body 11. Therefore, by bending the arm 12, the wing portion 14 is also bent together with the arm 12. Therefore, even if the flight device 10 is provided with the wing section 14, the flight device 10 can be stored in a compact state.
  • FIG. 8 is a perspective view showing a flight device 10 according to still another embodiment.
  • the form of the flight device 10 shown in FIG. 8 is basically the same as that shown in FIG. 6A etc., but differs in the form in which the wing section 14 is attached.
  • the wing section 14 has wing sections 141 to 144.
  • Wing portion 141 , wing portion 142 , wing portion 143 , and wing portion 144 are each attached to the upper side of arm 12 .
  • the wing portion 141 and the wing portion 142 form one plate-shaped member that continues in the left-right direction on the front side of the flight device 10.
  • the wing section 143 and the wing section 144 form one plate-shaped member that continues in the left-right direction on the rear side of the flight device 10.
  • the wing portions 141 to 144 are connected to the upper side of the arm 12 via the wing connection portion 15. Further, by changing the length of the wing connecting portion 15, the angle of inclination of the wing portions 141 to 144, which are inclined upward toward the front, can be changed, and the generated lift force can be changed.
  • FIG. 9 is a perspective view showing a stored state of the flight device 10 according to still another embodiment.
  • the arm 12 and the wing section 14 are placed in a stowed state.
  • the wing portions 141 to 144 have an elongated rectangular shape along the left-right direction, they are inclined with respect to the arm 12.
  • Flight device 11 Airframe 111 Upper frame section 112 Middle frame section 113 Lower frame section 114 Leg section 115 Plate frame section 12 Arm 121 First arm section 1211 First end section 1212 Second end section 1213 Third end section 122 Second Arm portion 1221 Fourth end portion 1222 Fifth end portion 1223 Adjustment portion 13 Rotor 131 Upper rotor 132 Lower rotor 133 Rotating surface 14 Wing portion 141 Wing portion 142 Wing portion 143 Wing portion 144 Wing portion 15 Wing connection portion 17 Rotor motor 18 Sensor 21 Control device 22 Communication device 23 Output control device 25 Battery unit

Abstract

Provided is a flying apparatus in which inner ends of arms can be rigidly connected to an airframe.　A flying apparatus 10 comprises an airframe 11, arms 12, and rotors 13. The arms 12 each have a first arm part 121 and a second arm part 122. The first arm part 121 has the corresponding rotor 13 disposed at one end side thereof, and has the other end side connected to the airframe 11. The second arm part 122 has one end side connected to the corresponding first arm part 121, and has the other end side connected to a portion of the airframe 11 lower than where the first arm part 121 is connected.

Description

飛行装置flight equipment
　本発明は、飛行装置に関する。 The present invention relates to a flight device.
　従来から、無人で空中を飛行することが可能な飛行装置が知られている。このような飛行装置は、垂直軸回りに回転するロータの推力で、空中を飛行することを可能としている。 2. Description of the Related Art Flight devices capable of flying unmanned in the air have been known for some time. Such flight devices enable flight through the air using the thrust of a rotor that rotates around a vertical axis.
　かかる飛行装置の適用分野としては、例えば、輸送分野、測量分野および撮影分野等が考えられる。このような分野に飛行装置を適用する場合は、測量機器や撮影機器を飛行装置に備え付ける。飛行装置をかかる分野に適用させることで、人が立ち入れない地域に飛行装置を飛行させ、そのような地域の輸送、撮影および測量を行うことができる。このような飛行装置に関する発明は、例えば、特許文献１に記載されている。 Possible fields of application of such flight devices include, for example, the transportation field, the surveying field, and the photography field. When a flight device is applied to such a field, surveying equipment and photographing equipment are attached to the flight device. By applying the flying device to such fields, it is possible to fly the flying device into areas where humans cannot access, and perform transportation, photographing, and surveying of such areas. An invention related to such a flight device is described in, for example, Patent Document 1.
　また、係る飛行装置では、機体から外側に向かって伸びるアームの先端に、ロータが取り付けられる。そして、ロータが回転することで発生する揚力により、飛行装置は空中に浮遊する。 Furthermore, in such a flight device, a rotor is attached to the tip of an arm that extends outward from the aircraft body. The lift generated by the rotation of the rotor causes the flight device to float in the air.
特開２０１２－５１５４５号公報Japanese Patent Application Publication No. 2012-51545
　しかしながら、前述した飛行装置においては、アームの機体に対する取り付け構成において改善の余地があった。 However, in the aforementioned flight device, there was room for improvement in the attachment configuration of the arm to the aircraft body.
　具体的には、一般的にはアームは略棒状を呈しており、その内側端部が機体に接続され、外側端部にロータが取り付けられる。よって、アームの内側端部と機体との接続強度が十分でなければ、飛行時において当該接続部からアームが不用意に変形し、飛行時の位置姿勢を正確に制御することが簡単ではない課題が発生する。 Specifically, the arm generally has a substantially rod shape, the inner end of which is connected to the fuselage, and the outer end of which the rotor is attached. Therefore, if the connection strength between the inner end of the arm and the aircraft is not strong enough, the arm will be inadvertently deformed from the connection during flight, making it difficult to accurately control the position and orientation during flight. occurs.
　本発明は、上記の事情に鑑みてなされたものであり、その目的とするところは、アームを強固に機体に接続することができる飛行装置を提供することにある。 The present invention has been made in view of the above circumstances, and its purpose is to provide a flight device whose arm can be firmly connected to the aircraft body.
　本発明の飛行装置は、機体と、アームと、ロータと、を具備し、前記アームは、第１アーム部と、第２アーム部と、を有し、前記第１アーム部は、一端側に前記ロータが配設され、他端側が前記機体に接続し、前記第２アーム部は、一端側が前記第１アーム部に接続し、他端側が、前記機体の前記第１アーム部が接続する部分よりも下方側に接続することを特徴とする。 The flight device of the present invention includes a fuselage, an arm, and a rotor, and the arm has a first arm portion and a second arm portion, and the first arm portion has one end thereof. The rotor is disposed, the other end side is connected to the body, and the second arm part has one end side connected to the first arm part, and the other end side is a part to which the first arm part of the body is connected. It is characterized by being connected to the lower side.
　また、本発明の飛行装置では、前記第１アーム部は、外側の端部である第１端部と、内側の端部である第２端部および第３端部と、を有し、前記第２アーム部は、外側の端部である第４端部と、内側の端部である第５端部と、を有し、前記第２アーム部の前記第５端部は、前記第１アーム部の前記第２端部および前記第３端部よりも、下方側に配置されることを特徴とする。 Further, in the flight device of the present invention, the first arm portion has a first end that is an outer end, and a second end and a third end that are inner ends, and The second arm portion has a fourth end portion that is an outer end portion and a fifth end portion that is an inner end portion, and the fifth end portion of the second arm portion is connected to the first end portion. It is characterized in that it is arranged on a lower side than the second end and the third end of the arm part.
　また、本発明の飛行装置では、前記第１アーム部は、前記第２端部および前記第３端部を回転中心として、前記機体に対して回転可能に接続され、前記第２アーム部の前記第５端部は、前記機体に対して着脱可能に接続されることを特徴とする。 Further, in the flight device of the present invention, the first arm portion is rotatably connected to the aircraft body with the second end portion and the third end portion as rotation centers, and the first arm portion is rotatably connected to the aircraft body, and The fifth end portion is characterized in that it is removably connected to the body.
　また、本発明の飛行装置では、前記第２アーム部は、長さ方向の寸法を変更できる調節部を有することを特徴とする。 Furthermore, in the flight device of the present invention, the second arm section has an adjustment section that can change the dimension in the length direction.
　また、本発明の飛行装置では、前記第２アーム部の一端側は、前記第１アーム部の途中部分に接続することを特徴とする。 Furthermore, the flight device of the present invention is characterized in that one end side of the second arm portion is connected to an intermediate portion of the first arm portion.
　また、本発明の飛行装置では、前記ロータの回転面は、外側に向かって上方に傾斜することを特徴とする。 Furthermore, the flight device of the present invention is characterized in that the rotating surface of the rotor is inclined outwardly and upwardly.
　また、本発明の飛行装置では、前記第１アーム部に取り付けられる翼部と、を更に具備することを特徴とする。 Furthermore, the flight device of the present invention is characterized in that it further includes a wing section attached to the first arm section.
　本発明の飛行装置は、機体と、アームと、ロータと、を具備し、前記アームは、第１アーム部と、第２アーム部と、を有し、前記第１アーム部は、一端側に前記ロータが配設され、他端側が前記機体に接続し、前記第２アーム部は、一端側が前記第１アーム部に接続し、他端側が、前記機体の前記第１アーム部が接続する部分よりも下方側に接続することを特徴とする。本発明の飛行装置によれば、第２アーム部により第１アーム部を補強することができ、飛行時においてアームが不用意に変形することを抑止し、飛行時における機体の位置姿勢を正確に制御することができる。 The flight device of the present invention includes a fuselage, an arm, and a rotor, and the arm has a first arm portion and a second arm portion, and the first arm portion has one end thereof. The rotor is disposed, the other end side is connected to the body, and the second arm part has one end side connected to the first arm part, and the other end side is a part to which the first arm part of the body is connected. It is characterized by being connected to the lower side. According to the flight device of the present invention, the first arm portion can be reinforced by the second arm portion, preventing the arm from being inadvertently deformed during flight, and accurately controlling the position and orientation of the aircraft during flight. can be controlled.
　また、本発明の飛行装置では、前記第１アーム部は、外側の端部である第１端部と、内側の端部である第２端部および第３端部と、を有し、前記第２アーム部は、外側の端部である第４端部と、内側の端部である第５端部と、を有し、前記第２アーム部の前記第５端部は、前記第１アーム部の前記第２端部および前記第３端部よりも、下方側に配置されることを特徴とする。本発明の飛行装置によれば、アーム部の内側端部が、第２端部、第３端部および第５端部により三点支持される。これにより、アーム部の内側端部を機体に対して強固に取り付けることができる。 Further, in the flight device of the present invention, the first arm portion has a first end that is an outer end, and a second end and a third end that are inner ends, and The second arm portion has a fourth end portion that is an outer end portion and a fifth end portion that is an inner end portion, and the fifth end portion of the second arm portion is connected to the first end portion. It is characterized in that it is arranged on a lower side than the second end and the third end of the arm part. According to the flight device of the present invention, the inner end of the arm portion is supported at three points by the second end, the third end, and the fifth end. Thereby, the inner end portion of the arm portion can be firmly attached to the aircraft body.
　また、本発明の飛行装置では、前記第１アーム部は、前記第２端部および前記第３端部を回転中心として、前記機体に対して回転可能に接続され、前記第２アーム部の前記第５端部は、前記機体に対して着脱可能に接続されることを特徴とする。本発明の飛行装置によれば、収納時において機体に対してアーム部を曲折することができ、装置全体をコンパクトな状態で格納および搬送することができる。 Further, in the flight device of the present invention, the first arm portion is rotatably connected to the aircraft body with the second end portion and the third end portion as rotation centers, and the first arm portion is rotatably connected to the aircraft body, and The fifth end portion is characterized in that it is removably connected to the body. According to the flight device of the present invention, the arm portion can be bent relative to the aircraft body when stored, and the entire device can be stored and transported in a compact state.
　また、本発明の飛行装置では、前記第２アーム部は、長さ方向の寸法を変更できる調節部を有することを特徴とする。本発明の飛行装置によれば、調節部により第２アーム部の長さを変更することで、アームの水平面に対する角度を変更することができる。 Furthermore, in the flight device of the present invention, the second arm section has an adjustment section that can change the dimension in the length direction. According to the flight device of the present invention, the angle of the arm with respect to the horizontal plane can be changed by changing the length of the second arm portion using the adjustment portion.
　また、本発明の飛行装置では、前記第２アーム部の一端側は、前記第１アーム部の途中部分に接続することを特徴とする。本発明の飛行装置によれば、第２アーム部の途中部分を第１アーム部により補強することができ、アーム全体の剛性を大きくすることができる。 Furthermore, the flight device of the present invention is characterized in that one end side of the second arm portion is connected to an intermediate portion of the first arm portion. According to the flight device of the present invention, the intermediate portion of the second arm portion can be reinforced by the first arm portion, and the rigidity of the entire arm can be increased.
　また、本発明の飛行装置では、前記ロータの回転面は、外側に向かって上方に傾斜することを特徴とする。本発明の飛行装置によれば、ロータが回転することにより発生する推力が、上方内側を向き、これにより飛行時の姿勢を安定化させることができる。 Furthermore, the flight device of the present invention is characterized in that the rotating surface of the rotor is inclined outwardly and upwardly. According to the flight device of the present invention, the thrust generated by the rotation of the rotor is directed upward and inward, thereby stabilizing the attitude during flight.
　また、本発明の飛行装置では、前記第１アーム部に取り付けられる翼部と、を更に具備することを特徴とする。本発明の飛行装置によれば、飛行時において翼部により揚力を得ることができ、飛行に要するエネルギを低減できる。 Furthermore, the flight device of the present invention is characterized in that it further includes a wing section attached to the first arm section. According to the flight device of the present invention, lift can be obtained by the wings during flight, and the energy required for flight can be reduced.
本発明の実施形態に係る飛行装置を示す斜視図である。1 is a perspective view showing a flight device according to an embodiment of the present invention. 本発明の実施形態に係る飛行装置を示す図であり、各部位の接続構成を示すブロック図である。1 is a diagram showing a flight device according to an embodiment of the present invention, and is a block diagram showing a connection configuration of each part. FIG. 本発明の実施形態に係る飛行装置のロータおよびアームを示す斜視図である。FIG. 1 is a perspective view showing a rotor and an arm of a flight device according to an embodiment of the present invention. 本発明の実施形態に係る飛行装置のアームを示す斜視図である。FIG. 1 is a perspective view showing an arm of a flight device according to an embodiment of the present invention. 本発明の実施形態に係る飛行装置のロータおよびアームを示す側面図である。FIG. 2 is a side view showing a rotor and an arm of a flight device according to an embodiment of the present invention. 本発明の実施形態に係る飛行装置の、収納時におけるロータおよびアームを示す斜視図である。FIG. 2 is a perspective view showing the rotor and arm of the flight device according to the embodiment of the present invention when it is stored. 本発明の他形態に係る飛行装置を上方から見た斜視図である。FIG. 3 is a perspective view from above of a flight device according to another embodiment of the present invention. 本発明の他形態に係る飛行装置を下方から見た斜視図である。FIG. 3 is a perspective view of a flight device according to another embodiment of the present invention, seen from below. 本発明の他形態に係る飛行装置の収納状態を示す斜視図である。FIG. 7 is a perspective view showing a stored state of a flight device according to another embodiment of the present invention. 本発明の更なる他形態に係る飛行装置を示す斜視図である。FIG. 3 is a perspective view showing a flight device according to still another embodiment of the present invention. 本発明の更なる他形態に係る飛行装置の収納状態を示す斜視図である。FIG. 7 is a perspective view showing a stored state of a flight device according to still another embodiment of the present invention.
　以下、図を参照して本形態の飛行装置の構成を説明する。以下の説明では、同一の構成を有する部位には同一の符号を付し、繰り返しの説明は省略する。また、以下の説明では上下前後左右の各方向を用いるが、これらの各方向は説明の便宜のためである。更に、以下の説明では、機体１１から離れる方向を外側と称し、機体１１に接近する方向を内側と称することもある。 Hereinafter, the configuration of the flight device of this embodiment will be explained with reference to the drawings. In the following description, parts having the same configuration are given the same reference numerals, and repeated description will be omitted. Further, in the following description, directions such as up, down, front, back, left, and right will be used, but these directions are for convenience of explanation. Furthermore, in the following description, the direction away from the aircraft body 11 may be referred to as the outside, and the direction approaching the aircraft body 11 may be referred to as the inside.
　図１は、飛行装置１０を示す斜視図である。 FIG. 1 is a perspective view showing the flight device 10.
　飛行装置１０は、機体１１と、アーム１２と、ロータ１３と、を主要に具備する。飛行装置１０は、ドローンとも称される。飛行装置１０は、バッテリからの給電により回転するモータのみを駆動源とする電動型ドローンでも良いし、エンジンおよびモータを駆動源とするハイブリッドドローンでも良い。ハイプリッドドローンとしては、シリーズハイブリッドドローンまたはパラレルハイブリッドドローンを採用できる。シリーズハイブリッドドローンは、エンジンにより発電機を駆動し、発電機から給電を受けたモータがロータ１３を回転させる。パラレルハイブリッドドローンは、当該モータによりロータ１３を回転させる電気的駆動系とは別に、エンジンにより機械的にロータ１３を回転させる機械的駆動系を有する。 The flight device 10 mainly includes a fuselage 11, an arm 12, and a rotor 13. The flying device 10 is also called a drone. The flying device 10 may be an electric drone whose driving source is only a motor that rotates due to power supplied from a battery, or a hybrid drone whose driving source is an engine and a motor. As a hybrid drone, a series hybrid drone or a parallel hybrid drone can be adopted. In the series hybrid drone, an engine drives a generator, and a motor receiving power from the generator rotates the rotor 13. The parallel hybrid drone has a mechanical drive system that mechanically rotates the rotor 13 using an engine, in addition to an electric drive system that rotates the rotor 13 using the motor.
　機体１１は、飛行装置１０を構成する各機器を支える本体である。ここでは、アルミニウムやマグネシウム等から成る棒状部材により、機体１１が構成される。具体的には、機体１１は、上段フレーム部１１１、中段フレーム部１１２および下段フレーム部１１３を有する。上段フレーム部１１１および中段フレーム部１１２は、上方から見て略正方形状を呈する枠状部材である。下段フレーム部１１３は、上方から見て略円環を呈する部材である。上段フレーム部１１１、中段フレーム部１１２および下段フレーム部１１３は、縦方向に伸びる棒状部材により、相互に接続される。下段フレーム部１１３から、下方に向かって４つの脚部１１４が伸びる。脚部１１４は、飛行装置１０が着陸状態の際に、地面に接する部分である。機体１１の内部に、後述する、電池ユニット２５等が収納される。 The fuselage 11 is a main body that supports each device that makes up the flight device 10. Here, the fuselage 11 is constituted by a rod-shaped member made of aluminum, magnesium, or the like. Specifically, the body 11 includes an upper frame section 111, a middle frame section 112, and a lower frame section 113. The upper frame section 111 and the middle frame section 112 are frame-shaped members that have a substantially square shape when viewed from above. The lower frame portion 113 is a member that has a substantially circular ring shape when viewed from above. The upper frame part 111, the middle frame part 112, and the lower frame part 113 are connected to each other by a rod-shaped member extending in the vertical direction. Four leg portions 114 extend downward from the lower frame portion 113. The leg portion 114 is a portion that comes into contact with the ground when the flight device 10 is in a landing state. A battery unit 25 and the like, which will be described later, are housed inside the fuselage 11.
　アーム１２は、機体１１から周囲に向かって伸びる部材である。アーム１２は、機体１１と同様に、アルミニウムまたはマグネシウム等の金属材料から成る。アーム１２は、機体１１から四方に向かって伸びる。アーム１２の具体構成は、図３Ａ等を参照して詳述する。 The arm 12 is a member that extends from the body 11 toward the surroundings. Like the body 11, the arm 12 is made of a metal material such as aluminum or magnesium. The arm 12 extends from the body 11 in all directions. The specific configuration of the arm 12 will be described in detail with reference to FIG. 3A and the like.
　ロータ１３は、アーム１２の先端側に配設される。ロータ１３が回転することにより上向きの推力が発生し、当該推力により飛行装置１０は空中を浮遊する。 The rotor 13 is arranged on the tip side of the arm 12. As the rotor 13 rotates, upward thrust is generated, and the flight device 10 floats in the air due to the thrust.
　図２は、飛行装置１０を示す図であり、各部位の接続構成を示すブロック図である。 FIG. 2 is a diagram showing the flight device 10, and is a block diagram showing the connection configuration of each part.
　飛行装置１０は、制御装置２１と、電池ユニット２５と、出力制御装置２３と、ロータモータ１７と、センサ１８と、通信装置２２と、を主要に有する。ここでは、飛行装置１０が電動型ドローンである場合を示しているが、飛行装置１０がハイブリッドドローンである場合は、別途に、エンジンおよび発電機が備えられる。 The flight device 10 mainly includes a control device 21, a battery unit 25, an output control device 23, a rotor motor 17, a sensor 18, and a communication device 22. Although the case where the flying device 10 is an electric drone is shown here, if the flying device 10 is a hybrid drone, an engine and a generator are separately provided.
　制御装置２１は、ＣＰＵ、ＲＯＭ、ＲＡＭ等を有する。制御装置２１は、センサ１８および通信装置２２からの入力に基づいて、飛行装置１０を構成する各機器の挙動、例えば、各々のロータ１３の回転数を制御する。 The control device 21 includes a CPU, ROM, RAM, etc. The control device 21 controls the behavior of each device constituting the flight device 10, for example, the rotation speed of each rotor 13, based on inputs from the sensor 18 and the communication device 22.
　電池ユニット２５は、例えば、充電可能なリチウムイオンバッテリである。電池ユニット２５から放電された電力は、出力制御装置２３に供給される。 The battery unit 25 is, for example, a rechargeable lithium ion battery. The power discharged from the battery unit 25 is supplied to the output control device 23.
　出力制御装置２３は、個々のロータ１３に対応して設けられる。出力制御装置２３としては、電池ユニット２５から供給される直流電力を、所定の周波数の交流電力に変換するインバータを採用できる。 The output control device 23 is provided corresponding to each rotor 13. As the output control device 23, an inverter that converts DC power supplied from the battery unit 25 into AC power at a predetermined frequency can be employed.
　ロータモータ１７は、前述したロータ１３に対応して設けられる。ロータモータ１７は、出力制御装置２３から供給される電力により、前述したロータ１３を回転させる。 The rotor motor 17 is provided corresponding to the rotor 13 described above. The rotor motor 17 rotates the rotor 13 described above using electric power supplied from the output control device 23 .
　センサ１８は、例えば、ジャイロセンサ、加速度センサ、気圧センサ、超音波センサ、ＧＰＳ等を含むセンサである。 The sensor 18 is a sensor including, for example, a gyro sensor, an acceleration sensor, an atmospheric pressure sensor, an ultrasonic sensor, a GPS, and the like.
　通信装置２２は、無線的または有線的に、操作者が操作するコントローラと接続される。操作者がコントローラを操作すると、当該操作を示すコマンドが通信装置２２に送信される。制御装置２１は、通信装置２２が受け付けたコマンドに基づいて、それぞれのロータモータ１７の回転を調整し、飛行装置１０の位置姿勢を制御する。 The communication device 22 is connected wirelessly or wired to a controller operated by an operator. When the operator operates the controller, a command indicating the operation is transmitted to the communication device 22. The control device 21 adjusts the rotation of each rotor motor 17 based on the command received by the communication device 22, and controls the position and orientation of the flight device 10.
　飛行装置１０の動作を簡単に説明する。飛行装置１０は、着陸状態、離陸状態、ホバリング状態、昇降状態または水平移動状態で稼働される。 The operation of the flight device 10 will be briefly explained. The flight device 10 is operated in a landing state, a takeoff state, a hovering state, an ascending/descending state, or a horizontal movement state.
　着陸状態では、飛行装置１０は接地している。この状態では、ロータ１３は回転しない。 In the landing state, the flight device 10 is on the ground. In this state, the rotor 13 does not rotate.
　離陸状態では、飛行装置１０は、ロータ１３の回転により発生する推力により、接地面から離れて上昇する。 In the takeoff state, the flight device 10 moves away from the ground plane and rises due to the thrust generated by the rotation of the rotor 13.
　ホバリング状態では、飛行装置１０は、制御装置２１およびセンサ１８からの入力情報に基づいて、電池ユニット２５からの電力を、出力制御装置２３を経由してロータモータ１７に供給し、ロータモータ１７を回転させ、飛行装置１０を空中の所定位置に浮遊させる。制御装置２１は、飛行装置１０が所定の高度および姿勢を維持できるように、各出力制御装置２３を制御することで、ロータモータ１７の回転速度を所定のものにしている。 In the hovering state, the flight device 10 supplies power from the battery unit 25 to the rotor motor 17 via the output control device 23 based on input information from the control device 21 and the sensor 18 to rotate the rotor motor 17. , the flight device 10 is suspended in a predetermined position in the air. The control device 21 controls each output control device 23 to maintain a predetermined rotational speed of the rotor motor 17 so that the flight device 10 can maintain a predetermined altitude and attitude.
　昇降状態では、制御装置２１は、ロータモータ１７の回転数を制御することで、飛行装置１０を上昇または下降させる。この際も、制御装置２１は、飛行装置１０が所定の高度および姿勢を維持できるように、各出力制御装置２３を制御することで、各々のロータ１３の回転速度を所定のものにしている。 In the ascending/descending state, the control device 21 raises or lowers the flight device 10 by controlling the rotation speed of the rotor motor 17. At this time as well, the control device 21 controls each output control device 23 so that the rotational speed of each rotor 13 is set to a predetermined value so that the flight device 10 can maintain a predetermined altitude and attitude.
　水平移動状態では、制御装置２１は、出力制御装置２３を制御することで、各々のロータモータ１７の回転数を制御することにより、飛行装置１０を傾斜状態にし、飛行装置１０を水平方向に移動させる。 In the horizontal movement state, the control device 21 controls the output control device 23 to control the rotation speed of each rotor motor 17, thereby placing the flight device 10 in a tilted state and moving the flight device 10 in the horizontal direction. .
　図３Ａは、飛行装置１０のロータ１３およびアーム１２を示す斜視図である。図３Ｂは、飛行装置１０のアーム１２を示す斜視図である。 FIG. 3A is a perspective view showing the rotor 13 and arm 12 of the flight device 10. FIG. 3B is a perspective view showing the arm 12 of the flight device 10.
　図３Ａを参照して、上段フレーム部１１１と中段フレーム部１１２との間に板状フレーム部１１５が架設されている。板状フレーム部１１５は板状の金属板から成る。板状フレーム部１１５は、２つが略平行となるように配設されている。 Referring to FIG. 3A, a plate-shaped frame portion 115 is installed between the upper frame portion 111 and the middle frame portion 112. The plate-shaped frame portion 115 is made of a plate-shaped metal plate. The plate-shaped frame portions 115 are arranged so that the two plate-like frame portions 115 are substantially parallel to each other.
　アーム１２は、板状フレーム部１１５から左方に向かって伸びる。アーム１２は、第１アーム部１２１と、第２アーム部１２２と、を有する。 The arm 12 extends toward the left from the plate-shaped frame portion 115. The arm 12 has a first arm section 121 and a second arm section 122.
　第１アーム部１２１は、一端側である左端側にロータ１３に配設され、他端側である右端側が機体１１の板状フレーム部１１５に接続される。また、第１アーム部１２１を上方から見た場合、アルファベットのＡの形状を呈することから、第１アーム部１２１はＡアームと称されることもある。 The first arm portion 121 is disposed on the rotor 13 at one end, which is the left end, and is connected to the plate-shaped frame portion 115 of the fuselage 11 at the other end, which is the right end. Furthermore, when the first arm section 121 is viewed from above, it has the shape of the letter A, so the first arm section 121 is sometimes referred to as an A-arm.
　ロータ１３は、第１アーム部１２１の外側端部に配設される。ロータ１３は、上段ロータ１３１と下段ロータ１３２とを有する。上段ロータ１３１と下段ロータ１３２とは、上方から見て重畳するように配置される。上段ロータ１３１と下段ロータ１３２とは逆方向に回転する。上段ロータ１３１および下段ロータ１３２を有することで、大きな推力を得ることができる。 The rotor 13 is disposed at the outer end of the first arm portion 121. The rotor 13 includes an upper rotor 131 and a lower rotor 132. The upper rotor 131 and the lower rotor 132 are arranged so as to overlap when viewed from above. The upper rotor 131 and the lower rotor 132 rotate in opposite directions. By having the upper rotor 131 and the lower rotor 132, a large thrust can be obtained.
　第２アーム部１２２は、一端側である外側端部が第１アーム部１２１に接続する。第２アーム部１２２の他端側である内側端部は、機体１１の第１アーム部１２１が接続する部分よりも下方側に接続する。具体的には、第２アーム部１２２の内側端部は、脚部１１４の途中部分に接続する。係る構成により、第２アーム部１２２により第１アーム部１２１を補強することができ、飛行時においてアーム１２が不用意に変形することを抑止し、飛行時における機体１１の位置姿勢を正確に制御することができる。 The second arm portion 122 has one outer end connected to the first arm portion 121 . The inner end portion, which is the other end side of the second arm portion 122, is connected to a lower side than a portion of the body 11 to which the first arm portion 121 is connected. Specifically, the inner end portion of the second arm portion 122 is connected to the middle portion of the leg portion 114. With this configuration, the first arm section 121 can be reinforced by the second arm section 122, preventing the arm 12 from being inadvertently deformed during flight, and accurately controlling the position and orientation of the aircraft 11 during flight. can do.
　図３Ｂを参照して、アーム１２を構成する第１アーム部１２１および第２アーム部１２２を詳述する。 With reference to FIG. 3B, the first arm portion 121 and second arm portion 122 that constitute the arm 12 will be described in detail.
　第１アーム部１２１は、外側の端部である第１端部１２１１と、内側の端部である第２端部１２１２および第３端部１２１３と、を有する。第１端部１２１１の上面および下面に、前述した上段ロータ１３１、下段ロータ１３２およびこれらを回転させるロータモータ１７が配設される。第２端部１２１２および第３端部１２１３は、第１アーム部１２１の右端に配置された略棒状部位の端部である。第１アーム部１２１は、第２端部１２１２および第３端部１２１３を回転中心として、板状フレーム部１１５に対して回転可能に接続される。ここで、回転可能に接続する構成としては、接続する部材に貫通孔を設け、当該貫通孔に回転軸を挿入する構成を採用することができる。係る構成は、他の部材同士の接続部においても同様である。 The first arm portion 121 has a first end 1211 that is an outer end, and a second end 1212 and a third end 1213 that are inner ends. The above-described upper rotor 131, lower rotor 132, and rotor motor 17 for rotating these are arranged on the upper and lower surfaces of the first end portion 1211. The second end portion 1212 and the third end portion 1213 are ends of a substantially rod-shaped portion disposed at the right end of the first arm portion 121. The first arm portion 121 is rotatably connected to the plate-shaped frame portion 115 with the second end portion 1212 and the third end portion 1213 as rotation centers. Here, as a configuration for rotatably connecting, a configuration can be adopted in which a through hole is provided in the member to be connected and a rotating shaft is inserted into the through hole. This configuration is the same for the connection portions between other members.
　第２アーム部１２２は、外側の端部である第４端部１２２１と、内側の端部である第５端部１２２２と、を有する。第２アーム部１２２の第５端部１２２２は、第１アーム部１２１の第２端部１２１２および第３端部１２１３よりも、下方側に配置される。かかる構成により、アーム１２の内側端部が、第２端部１２１２、第３端部１２１３および第５端部１２２２により三点支持される。よって、アーム１２の内側端部を機体１１に対して強固に取り付けることができる。 The second arm portion 122 has a fourth end 1221 that is an outer end and a fifth end 1222 that is an inner end. The fifth end 1222 of the second arm section 122 is arranged lower than the second end 1212 and third end 1213 of the first arm section 121 . With this configuration, the inner end of the arm 12 is supported at three points by the second end 1212, the third end 1213, and the fifth end 1222. Therefore, the inner end of the arm 12 can be firmly attached to the body 11.
　第２アーム部１２２の第４端部１２２１は、第１アーム部１２１の途中部分に、回転可能に接続する。係る構成により、第２アーム部１２２の途中部分を、第１アーム部１２１により補強することができ、アーム１２全体の剛性を大きくすることができる。 The fourth end 1221 of the second arm part 122 is rotatably connected to the middle part of the first arm part 121. With this configuration, the middle portion of the second arm portion 122 can be reinforced by the first arm portion 121, and the rigidity of the entire arm 12 can be increased.
　更に、第２アーム部１２２の第５端部１２２２は、図３Ａに示した脚部１１４に対して、簡易に着脱可能に接続されている。例えば、第２アーム部１２２の第５端部１２２２は、操作者が簡単に着脱できる、ネジ構造などの簡易な締結手段により、脚部１１４に接続される。よって、飛行装置１０の収納時において、機体１１に対してアーム１２を容易に曲折することができ、装置全体をコンパクトな状態で格納および搬送することができる。 Further, the fifth end 1222 of the second arm 122 is easily detachably connected to the leg 114 shown in FIG. 3A. For example, the fifth end 1222 of the second arm 122 is connected to the leg 114 by a simple fastening means such as a screw structure that can be easily attached and detached by an operator. Therefore, when storing the flight device 10, the arm 12 can be easily bent with respect to the fuselage 11, and the entire device can be stored and transported in a compact state.
　第２アーム部１２２は、長さ方向の寸法を変更できる調節部１２２３を有する。調節部１２２３は、例えばネジ構造により、第２アーム部１２２の上方部分と下方部分とを伸縮可能に接続する。調節部１２２３により第２アーム部１２２の長さを変更可能にすることで、第１アーム部１２１の水平面に対する角度を簡易に変更することができる。 The second arm portion 122 has an adjustment portion 1223 that can change the lengthwise dimension. The adjustment part 1223 connects the upper part and the lower part of the second arm part 122 in an expandable and retractable manner, for example, by a threaded structure. By making the length of the second arm section 122 changeable by the adjustment section 1223, the angle of the first arm section 121 with respect to the horizontal plane can be easily changed.
　図４は、飛行装置１０のロータ１３およびアーム１２を示す側面図である。図４では、ロータ１３が回転することにより推力が発生する方向を矢印で示している。 FIG. 4 is a side view showing the rotor 13 and arm 12 of the flight device 10. In FIG. 4, arrows indicate directions in which thrust is generated as the rotor 13 rotates.
　回転面１３３は、ロータ１３が回転することより形成される仮想的な面である。回転面１３３は、外側に向かって上方に傾斜するように配置されている。ロータ１３の回転面１３３が、第２アーム部１２２の延在方向に対して平行に設置されていれば、ロータ１３および第２アーム部１２２の両方が、左方に向かって上方に傾斜するように配置される。回転面１３３および第２アーム部１２２が水平面から傾斜する傾斜角θは、ロータ１３が回転することにより発生する推力および飛行装置１０の重量等を勘案し、飛行装置１０の飛行時における姿勢を安定的にできる範囲とされる。 The rotating surface 133 is a virtual surface formed by the rotation of the rotor 13. The rotating surface 133 is arranged so as to be inclined outwardly and upwardly. If the rotating surface 133 of the rotor 13 is installed parallel to the extending direction of the second arm portion 122, both the rotor 13 and the second arm portion 122 are inclined upward toward the left. will be placed in The inclination angle θ at which the rotating surface 133 and the second arm portion 122 are inclined from the horizontal plane is determined by taking into consideration the thrust generated by the rotation of the rotor 13 and the weight of the flight device 10, and stabilizes the attitude of the flight device 10 during flight. This is considered to be within the scope of what is possible.
　ロータ１３の回転面１３３を傾斜配置することで、ロータ１３が回転することにより発生する推力が、上方内側を向き、これにより飛行時の姿勢を安定化させることができる。即ち、飛行装置１０の飛行時における姿勢が、風等の外乱に起因して若干変動した場合であっても、ロータ１３から発生する推力が上方内側を向くことで、飛行装置１０の空中における姿勢が自己補正され、飛行装置１０の飛行時の安定性を向上させることができる。 By arranging the rotating surface 133 of the rotor 13 at an angle, the thrust generated by the rotation of the rotor 13 is directed upward and inward, thereby stabilizing the attitude during flight. That is, even if the attitude of the flight device 10 during flight changes slightly due to disturbances such as wind, the thrust generated from the rotor 13 is directed upward and inward, so that the attitude of the flight device 10 in the air remains unchanged. is self-corrected, and the stability of the flight device 10 during flight can be improved.
　更に、回転面１３３および第２アーム部１２２の傾斜角θは、調節部１２２３を調整することで容易に変更できる。具体的には、調節部１２２３を操作し、第１アーム部１２１を長くすることで、傾斜角θを大きくできる。一方、調節部１２２３を逆方向に操作し、第１アーム部１２１を短くすることで、傾斜角θを小さくできる。 Furthermore, the inclination angle θ of the rotating surface 133 and the second arm portion 122 can be easily changed by adjusting the adjustment portion 1223. Specifically, the inclination angle θ can be increased by operating the adjustment portion 1223 and lengthening the first arm portion 121. On the other hand, by operating the adjusting section 1223 in the opposite direction and shortening the first arm section 121, the inclination angle θ can be made smaller.
　図５は、飛行装置１０の、収納時におけるロータ１３およびアーム１２を示す斜視図である。 FIG. 5 is a perspective view showing the rotor 13 and arm 12 of the flight device 10 when it is stored.
　アーム１２を収納する際には、先ず、第２アーム部１２２の第５端部１２２２を、脚部１１４から取り外す。その後、第２端部１２１２および第３端部１２１３を回転中心として、アーム１２を上方内側に向かって曲折する。これにより、アーム１２およびロータ１３が外側に向かって張り出すことがなく、飛行装置１０を、全体的にコンパクトな状態で、収納および搬送することができる。 When storing the arm 12, first remove the fifth end 1222 of the second arm portion 122 from the leg portion 114. Thereafter, the arm 12 is bent upward and inward about the second end 1212 and the third end 1213 as rotation centers. As a result, the arm 12 and the rotor 13 do not protrude outward, and the flight device 10 can be stored and transported in an overall compact state.
　図６Ａは、他形態に係る飛行装置１０を上方から見た斜視図である。図６Ｂは、他形態に係る飛行装置１０を下方から見た斜視図である。ここに示す飛行装置１０の構成等は、図１に示したものと基本的には同様であり、翼部１４を備えている点が異なる。 FIG. 6A is a perspective view of the flight device 10 according to another embodiment seen from above. FIG. 6B is a perspective view of the flight device 10 according to another embodiment viewed from below. The configuration of the flight device 10 shown here is basically the same as that shown in FIG. 1, except that it includes a wing section 14.
　図６Ａを参照して、翼部１４は、アーム１２の上側に取り付けられた略板状の部材である。前述したように、機体１１から周囲に向かってアーム１２が伸びており、各々のアーム１２に翼部１４が取り付けられている。翼部１４を有することで、飛行時において翼部１４により揚力を得ることができ、飛行装置１０の飛行に要するエネルギを低減できる。 Referring to FIG. 6A, the wing section 14 is a substantially plate-shaped member attached to the upper side of the arm 12. As described above, the arms 12 extend from the fuselage 11 toward the periphery, and each arm 12 has a wing section 14 attached to it. By having the wing section 14, lift can be obtained by the wing section 14 during flight, and the energy required for flight of the flight device 10 can be reduced.
　図６Ｂを参照して、翼部１４は、複数の翼接続部１５を介して、アーム１２の上方に取り付けられている。翼接続部１５は、アーム１２から上方に向かって伸びる柱状の部材である。 Referring to FIG. 6B, the wing section 14 is attached above the arm 12 via a plurality of wing connection sections 15. The wing connecting portion 15 is a columnar member extending upward from the arm 12.
　図７は、他形態に係る飛行装置１０の収納状態を示す斜視図である。 FIG. 7 is a perspective view showing a stored state of the flight device 10 according to another embodiment.
　前述したように、アーム１２は機体１１に対して折り畳み可能に接続されている。よって、アーム１２を曲折させることにより、アーム１２と共に翼部１４も曲折状態となる。よって、飛行装置１０に翼部１４を備えた場合であっても、飛行装置１０をコンパクトな収納状態にすることができる。 As mentioned above, the arm 12 is foldably connected to the body 11. Therefore, by bending the arm 12, the wing portion 14 is also bent together with the arm 12. Therefore, even if the flight device 10 is provided with the wing section 14, the flight device 10 can be stored in a compact state.
　図８は、更なる他形態に係る飛行装置１０を示す斜視図である。 FIG. 8 is a perspective view showing a flight device 10 according to still another embodiment.
　図８に示した飛行装置１０の形態は、図６Ａ等に示したものと基本的には同様であり、翼部１４が取り付けられる形態が異なる。 The form of the flight device 10 shown in FIG. 8 is basically the same as that shown in FIG. 6A etc., but differs in the form in which the wing section 14 is attached.
　ここでは、翼部１４は、翼部１４１ないし翼部１４４を有する。翼部１４１、翼部１４２、翼部１４３および翼部１４４は、夫々がアーム１２の上方側に取り付けられている。 Here, the wing section 14 has wing sections 141 to 144. Wing portion 141 , wing portion 142 , wing portion 143 , and wing portion 144 are each attached to the upper side of arm 12 .
　翼部１４１および翼部１４２は、飛行装置１０の前方側で、左右方向に連続する１つの板状部材を形成している。同様に、翼部１４３および翼部１４４は、飛行装置１０の後方側で左右方向に連続する１つの板状部材を形成している。翼部１４１ないし翼部１４４は、翼接続部１５を介して、アーム１２の上方側に接続されている。また、翼接続部１５の長さを変化させることで、翼部１４１ないし翼部１４４の、前方に向かって上方に傾斜する傾斜角を変化させ、発生する揚力を変化させることができる。 The wing portion 141 and the wing portion 142 form one plate-shaped member that continues in the left-right direction on the front side of the flight device 10. Similarly, the wing section 143 and the wing section 144 form one plate-shaped member that continues in the left-right direction on the rear side of the flight device 10. The wing portions 141 to 144 are connected to the upper side of the arm 12 via the wing connection portion 15. Further, by changing the length of the wing connecting portion 15, the angle of inclination of the wing portions 141 to 144, which are inclined upward toward the front, can be changed, and the generated lift force can be changed.
　係る構成により、飛行装置１０が前方に向かって飛行した際に、翼部１４により大きな揚力を得ることができ、飛行装置１０の飛行に要するエネルギを低減できる。 With such a configuration, when the flight device 10 flies forward, a larger lift force can be obtained by the wing portion 14, and the energy required for flight of the flight device 10 can be reduced.
　図９は、更なる他形態に係る飛行装置１０の収納状態を示す斜視図である。機体１１に対して、アーム１２を内側下方に曲折させることで、アーム１２および翼部１４が収納状態となる。また、翼部１４１ないし翼部１４４は、左右方向に沿って細長い矩形形状を呈することから、アーム１２に対して傾斜している。 FIG. 9 is a perspective view showing a stored state of the flight device 10 according to still another embodiment. By bending the arm 12 inwardly and downwardly with respect to the fuselage 11, the arm 12 and the wing section 14 are placed in a stowed state. Furthermore, since the wing portions 141 to 144 have an elongated rectangular shape along the left-right direction, they are inclined with respect to the arm 12.
　以上、本発明の実施形態について説明したが、本発明は、これに限定されるものではなく、本発明の要旨を逸脱しない範囲で変更が可能である。また、前述した各形態は相互に組み合わせることが可能である。 Although the embodiments of the present invention have been described above, the present invention is not limited thereto, and can be modified without departing from the gist of the present invention. Moreover, each of the above-mentioned forms can be combined with each other.
１０ 飛行装置
１１ 機体
１１１ 上段フレーム部
１１２ 中段フレーム部
１１３ 下段フレーム部
１１４ 脚部
１１５ 板状フレーム部
１２ アーム
１２１ 第１アーム部
１２１１ 第１端部
１２１２ 第２端部
１２１３ 第３端部
１２２ 第２アーム部
１２２１ 第４端部
１２２２ 第５端部
１２２３ 調節部
１３ ロータ
１３１ 上段ロータ
１３２ 下段ロータ
１３３ 回転面
１４ 翼部
１４１ 翼部
１４２ 翼部
１４３ 翼部
１４４ 翼部
１５ 翼接続部
１７ ロータモータ
１８ センサ
２１ 制御装置
２２ 通信装置
２３ 出力制御装置
２５ 電池ユニット 10 Flight device 11 Airframe 111 Upper frame section 112 Middle frame section 113 Lower frame section 114 Leg section 115 Plate frame section 12 Arm 121 First arm section 1211 First end section 1212 Second end section 1213 Third end section 122 Second Arm portion 1221 Fourth end portion 1222 Fifth end portion 1223 Adjustment portion 13 Rotor 131 Upper rotor 132 Lower rotor 133 Rotating surface 14 Wing portion 141 Wing portion 142 Wing portion 143 Wing portion 144 Wing portion 15 Wing connection portion 17 Rotor motor 18 Sensor 21 Control device 22 Communication device 23 Output control device 25 Battery unit

Claims (7)

  1. 　機体と、アームと、ロータと、を具備し、
    　前記アームは、第１アーム部と、第２アーム部と、を有し、
    　前記第１アーム部は、一端側に前記ロータが配設され、他端側が前記機体に接続し、
    　前記第２アーム部は、一端側が前記第１アーム部に接続し、他端側が、前記機体の前記第１アーム部が接続する部分よりも下方側に接続することを特徴とする飛行装置。     Comprising a fuselage, an arm, and a rotor,
    The arm has a first arm part and a second arm part,
    The first arm portion has the rotor disposed on one end side, and the other end side is connected to the body,
    The flight apparatus is characterized in that one end of the second arm is connected to the first arm, and the other end is connected to a lower side of the fuselage than a portion of the fuselage to which the first arm is connected.
  2. 　前記第１アーム部は、外側の端部である第１端部と、内側の端部である第２端部および第３端部と、を有し、
    　前記第２アーム部は、外側の端部である第４端部と、内側の端部である第５端部と、を有し、
    　前記第２アーム部の前記第５端部は、前記第１アーム部の前記第２端部および前記第３端部よりも、下方側に配置されることを特徴とする請求項１に記載の飛行装置。     The first arm portion has a first end that is an outer end, and a second end and a third end that are inner ends,
    The second arm portion has a fourth end that is an outer end and a fifth end that is an inner end,
    The fifth end of the second arm is arranged lower than the second and third ends of the first arm. flight equipment.
  3. 　前記第１アーム部は、前記第２端部および前記第３端部を回転中心として、前記機体に対して回転可能に接続され、
    　前記第２アーム部の前記第５端部は、前記機体に対して着脱可能に接続されることを特徴とする請求項２に記載の飛行装置。     The first arm portion is rotatably connected to the body with the second end portion and the third end portion as rotation centers,
    The flight device according to claim 2, wherein the fifth end of the second arm is detachably connected to the aircraft body.
  4. 　前記第２アーム部は、長さ方向の寸法を変更できる調節部を有することを特徴とする請求項２または請求項３に記載の飛行装置。 The flight device according to claim 2 or 3, wherein the second arm portion has an adjustment portion that can change the dimension in the length direction.
  5. 　前記第２アーム部の一端側は、前記第１アーム部の途中部分に接続することを特徴とする請求項１から請求項４の何れかに記載の飛行装置。 The flight device according to any one of claims 1 to 4, wherein one end side of the second arm portion is connected to an intermediate portion of the first arm portion.
  6. 　前記ロータの回転面は、外側に向かって上方に傾斜することを特徴とする請求項１から請求項５の何れかに記載の飛行装置。 The flight device according to any one of claims 1 to 5, wherein the rotating surface of the rotor is inclined outwardly and upwardly.
  7. 　前記第１アーム部に取り付けられる翼部と、を更に具備することを特徴とする請求項１から請求項６の何れかに記載の飛行装置。 The flight device according to any one of claims 1 to 6, further comprising a wing section attached to the first arm section.
PCT/JP2023/010251 2022-03-23 2023-03-16 Flying apparatus WO2023182127A1 (en)

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