WO2023182127A1 - Appareil volant - Google Patents

Appareil volant 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
English (en)
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
Publication date
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/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
    • 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

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un appareil volant comportant des extrémités internes de bras pouvant être reliées de manière rigide à une cellule.　Un appareil volant 10 comprend une cellule 11, des bras 12 et des rotors 13. Les bras 12 ont chacun une première partie de bras 121 et une seconde partie de bras 122. La première partie du bras 121 comporte le rotor 13 correspondant à l'une de ses extrémités, l'autre étant reliée à la cellule 11. La seconde partie du bras 122 comporte une extrémité reliée à la première partie du bras 121 correspondante, et l'autre extrémité est reliée à une partie de la cellule 11 plus basse que celle où la première partie du bras 121 est reliée.
PCT/JP2023/010251 2022-03-23 2023-03-16 Appareil volant WO2023182127A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022-046818 2022-03-23
JP2022046818A JP2023140797A (ja) 2022-03-23 2022-03-23 飛行装置

Publications (1)

Publication Number Publication Date
WO2023182127A1 true WO2023182127A1 (fr) 2023-09-28

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PCT/JP2023/010251 WO2023182127A1 (fr) 2022-03-23 2023-03-16 Appareil volant

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JP (1) JP2023140797A (fr)
WO (1) WO2023182127A1 (fr)

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JP7012227B1 (ja) * 2021-02-15 2022-01-28 株式会社松山ドローンサービス 飛行体

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KR101945120B1 (ko) * 2017-09-12 2019-02-01 한국항공우주연구원 경사진 로터 배열을 구비하는 비행체
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CN113635721A (zh) * 2021-08-19 2021-11-12 西安戴森电子技术有限公司 一种空陆两栖双足轮多模式行走飞行仿生机器人
CN113753229A (zh) * 2021-10-09 2021-12-07 吉林大学 一种可折叠式固定翼四旋翼复合无人机及其控制方法
CN215663983U (zh) * 2021-10-11 2022-01-28 尚良仲毅(沈阳)高新科技有限公司 一种多旋翼无人机

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