WO2024142196A1 - 飛行装置 - Google Patents

飛行装置 Download PDF

Info

Publication number
WO2024142196A1
WO2024142196A1 PCT/JP2022/048081 JP2022048081W WO2024142196A1 WO 2024142196 A1 WO2024142196 A1 WO 2024142196A1 JP 2022048081 W JP2022048081 W JP 2022048081W WO 2024142196 A1 WO2024142196 A1 WO 2024142196A1
Authority
WO
WIPO (PCT)
Prior art keywords
frame
rotor
engine
arm
main body
Prior art date
Application number
PCT/JP2022/048081
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
孝人 関田
Original Assignee
株式会社クボタ
株式会社石川エナジーリサーチ
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 株式会社クボタ, 株式会社石川エナジーリサーチ filed Critical 株式会社クボタ
Priority to JP2024566981A priority Critical patent/JPWO2024142196A1/ja
Priority to PCT/JP2022/048081 priority patent/WO2024142196A1/ja
Publication of WO2024142196A1 publication Critical patent/WO2024142196A1/ja

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/11—Propulsion using internal combustion piston engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • the main body may have a frame body on which a drive unit that drives the main rotor is mounted, and a protruding frame that protrudes away from the frame body in a plan view, and the main rotor may be configured to be attached to the protruding frame.
  • the drive unit may be an engine, and the main rotor may be configured to rotate by the driving force supplied from the engine.
  • FIG. 2 is a plan view showing the arrangement of engines of the flying device according to the first embodiment.
  • FIG. 2 is a perspective view showing a main body and a first portion of an arm of the flying device according to the first embodiment.
  • FIG. 2 is a plan view showing the positional relationship between the main rotor and a cooling device (radiator) of the flying device according to the first embodiment.
  • FIG. 2 is a perspective view showing a cooling device (radiator), air guide members, etc. of the flying device according to the first embodiment.
  • FIG. 2 is an enlarged front view of the flying device according to the first embodiment.
  • FIG. 2 is an enlarged rear view of the flying device according to the first embodiment.
  • FIG. 2 is a perspective view showing a fuel tank, a casing, a skid, etc.
  • the flying device 1 comprises an airframe 2 and a number of rotors 3 attached to the airframe 2.
  • the multiple rotors 3 include a main rotor 3A and a sub-rotor 3B.
  • the main rotor 3A is a rotor for generating lift to lift the airframe 2.
  • the sub-rotor 3B is a rotor for controlling the attitude of the airframe 2.
  • the main rotor 3A rotates by driving force supplied from an engine 4.
  • the sub-rotor 3B rotates by driving force supplied from a motor 5.
  • the aircraft 2 has a main body 6 and a number of arms 7 extending from the main body 6.
  • the main rotor 3A is attached to the main body 6.
  • the sub-rotor 3B is attached to the arms 7.
  • the main body 6 has a frame main body 8 and a protruding frame 9.
  • the frame main body 8 is equipped with a drive unit 4 that drives the main rotor 3A.
  • the drive unit 4 is an engine, a motor, or the like. In this embodiment, the drive unit 4 is an engine. Therefore, hereinafter, the drive unit 4 will be described as an engine 4.
  • the frame body 8 is formed in a rectangular shape in a plan view.
  • the frame body 8 is formed so as to surround the engine 4 in a plan view (see FIG. 7, etc.).
  • the protruding frame 9 protrudes in a direction away from the frame body 8 in a plan view.
  • the protruding frame 9 protrudes in the horizontal direction.
  • the main rotor 3A is attached to the protruding frame 9. In other words, the main rotor 3A is attached to the main body 6 (protruding frame 9) rather than to the arm 7.
  • the second protruding frame 9B is composed of upper frame materials (frame materials 123, 125) and lower frame materials (frame materials 124, 126).
  • the upper and lower frame materials are connected to each other via the members constituting the frame main body 8 (frame materials 116, 118) and the second connector 146 described below.
  • the second protruding frame 9B is combined with the members constituting the frame main body 8 (frame materials 102, 106) to form a triangular shape in a plan view.
  • the sub-rotors 3B are attached to the multiple arms 7.
  • the sub-rotors 3B are attached to the tips of the arms 7.
  • the base ends of the arms 7 are attached to the main body 6.
  • the main rotors 3A are disposed between adjacent arms 7.
  • the main rotor 3A is attached to the protruding frame 9 of the main body 6, and the sub-rotor 3B is attached to the arm 7.
  • a rotor (main rotor 3A) separate from the rotor (sub-rotor 3B) attached to the arm 7 is attached to the protruding frame 9.
  • the base end 7a of the arm 7 is attached (connected) to the protruding frame 9 of the main body 6.
  • the arm 7 is connected to the portion between the base end (base end 9b) in the protruding direction of the protruding frame 9 and the corner 9a. More specifically, the arm 7 is connected to the portion between the base end 9b and the corner 9a of the protruding frame 9, at a position closer to the base end 9b than the corner 9a.
  • each arm 7 has two base ends 7a, one of which is connected to the base end 9b of the protruding frame 9, and the other is connected to a position between the corner 9a and the base end 9b, closer to the base end 9b than the corner 9a.
  • the main rotor 3A is positioned lower than the first rotor (upper rotor) 3BU and the second rotor (lower rotor) 3BL.
  • the main rotor 3A is positioned lower than both the first rotor (upper rotor) 3BU and the second rotor (lower rotor) 3BL.
  • the vertical distance between the main rotor 3A and the second rotor (lower rotor) 3BL is smaller than the vertical distance between the first rotor (upper rotor) 3BU and the second rotor (lower rotor) 3BL.
  • the tip is positioned higher than the lower end of the skid 10. This prevents the arm 7 from hitting the ground and being damaged when the arm 7 is rotated downward.
  • the sub-rotor 3B attached to the tip of the arm 7 is positioned higher than the lower end of the skid 10. This prevents the sub-rotor 3B from hitting the ground and being damaged when the arm 7 is rotated downward.
  • the switching mechanism 25 can be switched between a first state in which the arm 7 is permitted to rotate relative to the main body 6, and a second state in which the arm 7 is not permitted to rotate relative to the main body 6.
  • the configuration of the switching mechanism 25 is not limited to the above-described configuration.
  • the aircraft 2 is equipped with a connector 31 that connects the main body 6 and the arm 7.
  • the connector 31 is a straight member.
  • the connector 31 extends diagonally upward from the main body 6 and is connected to the middle of the arm 7.
  • the connector 31 is a member that is connected to the main body 6 and supports the arm 7 from below. By supporting the arm 7 from below, the connector 31 suppresses the vertical shaking of the arm 7.
  • Abutment plate 33 is attached to the base end of arm 7, which abuts against stopper 30 when arm 7 is in the first position.
  • the abutment plate 33 abuts against stopper 30 when arm 7 is in the first position, and moves away from stopper 30 when arm 7 rotates downward from the first position.
  • the abutment plate 33 includes a first abutment plate 33A and a second abutment plate 33B.
  • the muffler 37 is arranged vertically (with its longitudinal direction facing up and down) outside the frame main body 8. As shown in Figures 5 and 6, the muffler 37 is attached to the frame main body 8 by an attachment member 75.
  • the attachment member 75 is attached to the tenth frame member 110 (see Figure 15) of the second middle frame 100E described below.
  • the attachment member 75 holds the muffler 37 in a position away from the frame main body 8. In this way, by arranging the muffler 37 outside the frame main body 8, it is possible to prevent the heat of the exhaust gas emitted from the muffler 37 from adversely affecting the various devices mounted inside the frame main body 8.
  • the engine body 4a has therein the cylinder 80, the first piston 81, the second piston 82, the first crankshaft 83, and the second crankshaft 84 described above.
  • the first output shaft 4c and the second output shaft 4d extend protruding from the engine body 4a.
  • the first output shaft 4c is connected to one end of the first crankshaft 83 via the first coupling 4g.
  • the second output shaft 4d is connected to one end of the second crankshaft 84 via the second coupling 4h.
  • the first generator 56A is connected to the other end of the first crankshaft 83.
  • the second generator 56B is connected to the other end of the second crankshaft 84.
  • the first generator 56A generates electricity by the rotation of the first crankshaft 83.
  • the second generator 56B generates electricity by the rotation of the second crankshaft 84.
  • the engine body 4a is disposed at an angle to the frame body 8 in a plan view.
  • the frame body 8 is formed into a rectangle in a plan view.
  • the engine body 4a is disposed so that its longitudinal direction in a plan view is non-parallel to and non-perpendicular to the rectangular sides of the frame body 8.
  • first frame member 101 and the second frame member 102 are arranged parallel to each other.
  • the first output shaft 4c extends at an angle relative to the first frame member 101 in a plan view.
  • the second output shaft 4d extends at an angle relative to the second frame member 102 in a plan view.
  • the first output shaft 4c and the first frame member 101 intersect at a non-right angle.
  • the second output shaft 4d and the second frame member 102 intersect at a non-right angle.
  • the multiple main rotors 3A include a first rotor 3A1 arranged on one side (left) of the engine 4 in a plan view, and a second rotor 3A2 arranged on the other side (right) of the engine 4.
  • the first rotor 3A1 is the first main rotor 3A1
  • the second rotor 3A2 is the second main rotor 3A2.
  • the first output shaft 4c and the second output shaft 4d extend at an angle to a line L5 (see Figure 1) connecting the center of the first rotor 3A1 and the center of the second rotor 3A2 in a plan view.
  • the first output shaft 4c supplies driving force to the one rotor 3A1.
  • the second output shaft 4d supplies driving force to the other rotor 3A2.
  • the rotation of the first output shaft 4c is transmitted to the rotating shaft 3c of the one rotor 3A1 via a first power transmission unit 38 (see Figures 3 and 4) consisting of a gear mechanism or the like. This causes the blades 3d of the one rotor 3A1 to rotate.
  • the rotation of the second output shaft 4d is transmitted to the rotating shaft 3c of the other rotor 3A2 via a second power transmission unit 39 (see Figures 3 and 4) consisting of a gear mechanism or the like. This causes the blades 3d of the other rotor 3A2 to rotate.
  • the two main rotors (the one rotor 3A1 and the other rotor 3A2) are driven by two output shafts (the first output shaft 4c and the second output shaft 4d) of one engine 4.
  • the rotor 3 and the engine 4 overlap in the vertical direction.
  • the rotor 3 and the engine 4 overlap in the vertical direction.
  • the main rotor 3A and the engine 4 overlap in the vertical direction.
  • the sub-rotor 3B and the engine 4 also overlap in the vertical direction.
  • the flying device 1 is equipped with a cooling device 40 that water-cools the drive unit (engine 4) that drives the main rotor 3A.
  • the cooling device 40 preferably includes a radiator.
  • the cooling device 40 is a radiator 40.
  • the cooling device 40 is not limited to a radiator.
  • the radiator 40 water-cools the engine 4, but it may also water-cool the battery 46, or it may water-cool the engine 4 and the battery 46.
  • the cooling device 40 is described as a radiator 40 that water-cools the engine 4 (cools the coolant for the engine 4).
  • the radiator 40 is disposed below the blades 3d of the main rotor 3A.
  • the radiator 40 is disposed on the sides (left and right) of the main body 6.
  • the radiator 40 is located outside the main body 6 and protrudes in a direction away from the main body 6. More specifically, the radiator 40 is located outside the frame main body 8 and protrudes in a direction away from the frame main body 8 (horizontally). In this way, since the radiator 40 is located outside the frame main body 8, heat from the engine 4 and the like disposed inside the frame main body 8 is less likely to be transmitted to the radiator 40.
  • the radiator 40 can be cooled by blowing air on it during flight. This improves the cooling effect of the radiator 40.
  • the radiator 40 is formed in a roughly rectangular parallelepiped shape.
  • the radiator 40 is oriented (horizontally) so that its vertical length is shorter than its front-rear and left-right lengths.
  • the radiator 40 is attached to the lower part of the main body 6 by mounting fixtures 73.
  • the mounting fixtures 73 are fixed to the eleventh and twelfth frame members 111 and 112 (see Figure 15) of the lower frame 100F of the main body 6, which will be described later. In this way, the radiator 40 is supported by the lower frame 100F of the main body 6.
  • the radiator 40 includes a first radiator 40A and a second radiator 40B.
  • the first radiator 40A and the second radiator 40B are arranged symmetrically on opposite sides of the main body 6.
  • the first radiator 40A is arranged in a position overlapping the triangle formed by the first protruding frame 9A and the frame members 101, 105 (see FIG. 15) that constitute the frame main body 8 in a plan view.
  • the second radiator 40B is arranged in a position overlapping the triangle formed by the second protruding frame 9B and the frame members 102, 106 (see FIG. 15) that constitute the frame main body 8 in a plan view. This effectively prevents foreign objects from colliding from above with the radiators (first radiator 40A, second radiator 40B) that are arranged to protrude from the frame main body 8.
  • the first radiator 40A is arranged at a position overlapping the rotation trajectory of the blades 3d of the first main rotor 3A1 in a plan view.
  • the second radiator 40B is arranged at a position overlapping the rotation trajectory of the blades 3d of the second main rotor 3A2 in a plan view.
  • the flying device 1 is equipped with an air guide member 44 that guides the downward airflow generated by the rotation of the blades 3d of the main rotor 3A toward the radiator 40.
  • the air guide member 44 is arranged so as to protrude outside the frame body 8.
  • the air guide member 44 is arranged at a position overlapping the rotation trajectory R1 of the blades 3d of the main rotor 3A in a plan view.
  • the air guide member 44 is arranged above the heat dissipation surface 40a of the radiator 40. The lower end of the air guide member 44 abuts against or is close to the heat dissipation surface 40a of the radiator 40.
  • the air guide member 44 is attached to the top of the radiator 40 by a mounting fixture 74 such as a screw (see Figure 17).
  • the air guide member 44 has a first plate 44a, a second plate 44b, and a third plate 44c.
  • the first plate 44a and the second plate 44b are erected facing each other with a gap between them in the front-rear direction.
  • the third plate 44c connects the first plate 44a and the second plate 44b.
  • the air guide member 44 has an extension portion 45 in which the distance between the first plate 44a and the second plate 44b gradually increases as the distance increases upward.
  • the distance between the upper end of the first plate 44a and the upper end of the second plate 44b is wider than the width (front-to-back distance) of the radiator 40. This ensures that the downward airflow generated by the rotation of the blades 3d of the main rotor 3A can be reliably taken in between the first plate 44a and the second plate 44b from the upper end of the air guide member 44 and guided toward the radiator 40.
  • the width (length in the left-right direction) of the first plate 44a of the air guide member 44 gradually increases from top to bottom.
  • the width (length in the left-right direction) of the second plate 44b also gradually increases from top to bottom.
  • the width (length in the left-right direction) of the lower end portion, which is the widest part, of the first plate 44a and the second plate 44b is approximately the same as the width (length in the left-right direction) of the radiator 40. This makes it easier to take in the downward airflow generated by the rotation of the blades 3d of the main rotor 3A between the first plate 44a and the second plate 44b, and the taken-in airflow can be guided toward approximately the entire heat dissipation surface 40a of the radiator 40.
  • the radiator 40 is disposed between the center of the main rotor 3A and the third plate 44c in a plan view.
  • the air guide member 44 is disposed between the center of the main rotor 3A and the main body 6 (frame main body 8) in a plan view.
  • the upper end of the air guide member 44 is disposed above the blades 3d of the main rotor 3A. This allows most of the downward airflow generated by the rotation of the blades 3d of the main rotor 3A to be efficiently guided downward by the air guide member 44.
  • an attachment portion 44d is provided on the upper portion of the air guide member 44 (the upper portion of the third plate 44c).
  • the upper portion of the air guide member 44 is attached to the frame main body 8 via the attachment portion 44d.
  • the frame main body 8 has frame members (fifth frame member 105, sixth frame member 106, seventh frame member 107, eighth frame member 108) that constitute the first middle frame 100D (see FIG. 15).
  • the upper portion of the air guide member 44 is attached to the frame members (fifth frame member 105, sixth frame member 106) that constitute the first middle frame 100D.
  • Plate members (not shown) having through holes are fixed to the fifth frame member 105 and the sixth frame member 106, and bolts are inserted through the through holes of the plate members and through holes formed in the attachment portion 44d, and nuts are screwed into them.
  • the upper part of the air guide member 44 is attached to the first middle frame 100D of the frame body 8 via the mounting portion 44d.
  • the lower frame 100F of the frame main body 8 and the first middle frame 100D are connected in the vertical direction via the radiator 40 and the air guide member 44. Since the radiator 40 and the air guide member 44 are disposed on the left and right sides of the frame main body 8, the lower frame 100F and the first middle frame 100D are connected in the vertical direction at the left and right parts of the frame main body 8. This improves the rigidity of the frame main body 8.
  • FIGS 26 and 27 show a cooling system 90 including a cooling device (radiator) 40 and a pump 66.
  • the cooling system 90 is a system that water-cools the drive unit (engine) 4.
  • the cooling system 90 has connecting pipes consisting of a first pipe 67, a second pipe 68, and a third pipe 69, which will be described later.
  • the pump 66 circulates the cooling water between the engine 4 and the radiator 40.
  • One end of a first pipe 67 is connected to the discharge port of the pump 66.
  • the other end of the first pipe 67 is connected to the lower part of the engine 4.
  • the other end of the first pipe 67 is connected to the lower part of the cooling jacket (not shown) of the engine 4.
  • One end of a second pipe 68 is connected to the suction port of the pump 66.
  • the other end of the second pipe 68 is connected to the cooling water outlet 40b of the radiator 40.
  • the second pipe 68 branches into a branch pipe 68A and a branch pipe 68B in the middle, the branch pipe 68A is connected to the cooling water outlet 40b of the first radiator 40A, and the branch pipe 68B is connected to the cooling water outlet 40b of the second radiator 40B.
  • one end of the third pipe 69 is connected to the top of the engine 4. Specifically, one end of the third pipe 69 is connected to the top of the cooling jacket (not shown) of the engine 4. The other end of the third pipe 69 is connected to the cooling water inlet 40c of the radiator 40. Specifically, the third pipe 69 branches into branch pipes 69A and 69B midway, and the branch pipe 69A is connected to the cooling water inlet 40c of the first radiator 40A, and the branch pipe 68B is connected to the cooling water inlet 40c of the second radiator 40B.
  • the cooling water inlet 40c and the cooling water outlet 40b of the radiator 40 are provided on the frame body 8 side (inside the aircraft body).
  • the cooling water inlet 40c and the cooling water outlet 40b are arranged at approximately the same height.
  • the cooling water inlet 40c and the cooling water outlet 40b are provided at both ends (front end and rear end) of the heat dissipation surface 40a of the radiator 40 (see Figure 17).
  • the pump 66 is disposed below the drive unit (engine) 4.
  • the pump 66 is also disposed below the cooling device (radiator) 40.
  • the lower end of the pump 66 is located below the drive unit (engine) 4, the cooling device (radiator) 40, and the connecting pipes (first pipe 67, second pipe 68, third pipe 69).
  • the pump 66 is located at the lowest position among the components that make up the cooling system 90. This allows smooth circulation of the cooling water by driving the pump 66, even if the attitude of the flying device 1 is tilted during flight. In particular, the cooling water can be smoothly returned to the pump 66.
  • the first radiator 40A and the second radiator 40B are arranged side by side in the horizontal direction. In other words, the first radiator 40A and the second radiator 40B are arranged at the same height.
  • the pump 66 is arranged between the first radiator 40A and the second radiator 40B in the horizontal direction. In other words, the pump 66 is arranged between the first radiator 40A and the second radiator 40B in the arrangement direction (left-right direction) of the first radiator 40A and the second radiator 40B.
  • a portion of the first pipe 67 and a portion of the third pipe 69 (branch pipe 69A) of the connecting pipe extend in the vertical direction.
  • a portion of the first pipe 67 of the connecting pipe extends in the vertical direction along the first plate 44a of the air guide member 44 and a vertical frame member 100B (see Figure 15) described later.
  • a portion of the third pipe 69 (branch pipe 69A) extends in the vertical direction along the second plate 44b of the air guide member 44 and a vertical frame member 100B (see Figure 15) described later.
  • the flying device 1 is equipped with a battery 46 that stores the power supplied to the motor 5.
  • the battery 46 is disposed on one side (left) and the other side (right) of the engine 4 in a plan view.
  • the two batteries 46 are disposed to sandwich the engine 4 in a plan view.
  • the battery 46 overlaps with the oil pan 4b in the vertical direction.
  • the battery 46 is located to the side of the oil pan 4b.
  • the two batteries 46 are disposed on one side (left) and the other side (right) of the oil pan 4b, respectively.
  • the height of the upper end of the battery 46 and the height of the lower end of the engine body 4a are approximately the same. In other words, the battery 46 hardly overlaps with the engine body 4a in the vertical direction. As a result, heat generated from the engine body 4a is not easily transmitted to the battery 46.
  • the battery arranged on one side of the engine 4 is referred to as the first battery 46A
  • the battery arranged on the other side of the engine 4 is referred to as the second battery 46B.
  • the first battery 46A supplies power to the motors 5 that drive the first sub-rotor 3B1 and the third sub-rotor 3B3.
  • the second battery 46B supplies power to the motors 5 that drive the second sub-rotor 3B2 and the fourth sub-rotor 3B4.
  • the first battery 46A and the second battery 46B are substantially rectangular parallelepiped in shape. As shown in Figures 18 and 19, the first battery 46A and the second battery 46B are arranged at the same height on the aircraft 2.
  • one generator (second generator 56B) is disposed between the first battery 46A and the engine 4.
  • the other generator (first generator 56A) is disposed between the second battery 46B and the engine 4.
  • the engine 4 and the generators are disposed in a position sandwiched between the first battery 46A and the second battery 46B.
  • the battery 46 is disposed to the side of the radiator 40 (outside the aircraft body). As shown in Figs. 18 and 19, the radiator 40 and the battery 46 are disposed with their positions offset in the vertical direction. Specifically, the battery 46 is disposed in a position higher than the radiator 40. This makes it possible to prevent heat generated by the battery 46 from being transferred to the radiator 40.
  • the battery 46 and the air guide member 44 are disposed side by side in the horizontal direction. The surface of the battery 46 on the outer side of the aircraft body abuts or is in close proximity to the third plate 44c of the air guide member 44. This makes it possible to remove heat from the battery 46 and cool it by the airflow guided downward along the air guide member 44.
  • the air guide member 44 is disposed opposite the surface of the battery 46 on the outer side of the aircraft body, the surface of the battery 46 on the outer side of the aircraft body is protected by the air guide member 44. This makes it possible to prevent foreign objects from colliding with the battery 46 during flight, etc.
  • the main rotor 3A, the battery 46, and the engine 4 are arranged side by side in the horizontal direction.
  • the main rotor 3A, the battery 46, and the engine 4 overlap in the vertical direction.
  • the first rotor 3A1, the first battery 46A, the engine 4, the second battery 46B, and the other rotor 3A2 are arranged side by side in that order.
  • the main rotor 3A and the sub-rotor 3B overlap with the engine 4 in the vertical direction.
  • the flying device 1 is equipped with a positioning device 47 that measures the position of the aircraft 2.
  • the positioning device 47 is arranged on the top tier 8A of the frame body 8.
  • a flight controller 48 is also arranged on the top tier 8A of the frame body 8.
  • the engine 4 is arranged on the top tier 8B of the frame body 8 below the positioning device 47. More specifically, the engine 4 is arranged in the range from the top tier 8B to the middle tier 8C of the frame body 8.
  • the battery 46 is arranged on the middle tier 8C of the frame body 8. In this way, by arranging the engine 4 and battery 46, which are heavy objects, below the positioning device 47 and flight controller 48, which are light objects, the attitude of the aircraft 2 during flight can be stabilized.
  • the flying device 1 is equipped with a fuel tank 50 that stores fuel to be supplied to the engine 4.
  • the fuel tank 50 is disposed in the lower stage 8D of the frame main body 8.
  • the fuel tank 50 is supported by supports 63 attached to a lower stage frame 100F (described later) that constitutes the lower part of the lower stage 8D of the frame main body 8.
  • the fuel tank 50 is positioned so as to straddle two frame materials (the eleventh frame material 111 and the twelfth frame material 112) that are arranged parallel to each other.
  • the eleventh frame material 111 and the twelfth frame material 112 are frame materials that make up the lower frame 100F.
  • the two frame materials (the eleventh frame material 111 and the twelfth frame material 112) that make up the lower frame 100F are connected via the fuel tank 50, which increases the rigidity of the lower frame 100F and improves the rigidity of the frame main body 8.
  • the fuel tank 50 has a truncated cone-shaped lower portion 50a whose diameter decreases as it approaches the bottom. Fuel stored in the fuel tank 50 is taken out from the lower end of the fuel tank 50 (the bottom surface of the lower portion 50a) and supplied to the engine 4. Because the lower portion 50a of the fuel tank 50 is truncated cone-shaped, fuel can be smoothly taken out of the fuel tank 50 even if the aircraft 2 tilts during flight of the flying device 1.
  • the fuel tank 50 is at least partially surrounded by a casing 51.
  • the lower portion 50a of the fuel tank 50 is surrounded by the casing 51 on three sides (left, right, and rear).
  • the casing 51 is arranged to surround the lower portion 50a of the fuel tank 50 (on three sides).
  • the casing 51 also covers a portion of the underside of the lower portion 50a of the fuel tank 50. This allows the casing 51 to protect the fuel tank 50 from external forces.
  • the casing 51 is a fuse box that houses a fuse. The fuse is provided to prevent an overcurrent from flowing to electrical equipment mounted on the aircraft 2.
  • the casing 51 is not limited to a fuse box.
  • the outer edges (left edge, right edge, rear edge) of the casing 51 are arranged along the three frame members (eleventh frame member 111, twelfth frame member 112, fourteenth frame member 114) that make up the lower frame 100F.
  • the casing 51 is also attached to the lower frame 100F. Specifically, the casing 51 is attached to the lower frame 100F via the mounting fixture 76 (see FIG. 21) and the fifteenth and sixteenth joints 215 and 216 (see FIG. 15), which will be described later.
  • the casing 51 is attached to the lower frame 100F with multiple outer edges arranged along the frame material that constitutes the lower frame 100F. This increases the rigidity of the lower frame 100F, thereby improving the rigidity of the frame body 8.
  • the pump 66 is disposed in front of the fuel tank 50.
  • the pump 66 is disposed on the side (front) of the periphery of the lower portion 50a of the fuel tank 50 where the casing 51 (see FIG. 21) is not provided.
  • the pump 66 is disposed on the opposite side of the casing 51 in the front-to-rear direction.
  • At least a portion of the cooling system 90 described above is disposed in a position overlapping the fuel tank 50 in a plan view.
  • the connecting pipes (first pipe 67, second pipe 68, third pipe 69) of the cooling system 90 are disposed in a position overlapping the fuel tank 50 in a plan view.
  • the fuel tank 50 is disposed between the first radiators 40A and the second radiators 40A in a plan view.
  • the cooling system 90 overlaps with the lower portion 50a of the fuel tank 50 in the vertical direction.
  • the pump 66 and connecting pipes (first pipe 67, second pipe 68, third pipe 69) of the cooling system 90 overlap with the lower portion 50a of the fuel tank 50 in the vertical direction.
  • the lower portion 50a of the fuel tank 50 is formed in a truncated cone shape with a diameter that decreases toward the bottom. Therefore, a portion of the cooling system 90 can be arranged at a position that overlaps with the lower portion 50a of the fuel tank 50 in a plan view and in the vertical direction.
  • the branch pipe 68A of the cooling system 90 is arranged at a position that overlaps with the lower portion 50a of the fuel tank 50 in a plan view and in the vertical direction.
  • the engine 4 has an engine block 400.
  • the engine block 400 is a block that constitutes the outer shell of the engine body 4a described above.
  • the first output shaft 4c and the second output shaft 4c protrude from the engine block 400.
  • the pistons (first piston 81, second piston 82) and crankshafts (first crankshaft 83, second crankshaft 84) described above are housed inside the engine block 400.
  • the engine block 400 is constructed by combining multiple blocks.
  • the engine block 400 is constructed from a first block 400A, a second block 400B, and a third block 400C.
  • the first block 400A is located at the rear of the engine block 400.
  • the third block 400C is located at the front of the engine block 400.
  • the second block 400B is disposed between the first block 400A and the second block 400B.
  • the first block 400A and the second block 400B are connected by a bolt BL5.
  • the second block 400B and the third block 400C are connected by a bolt BL6. Therefore, the engine block 400 can be separated into multiple blocks (the first block 400A, the second block 400B, and the third block 400C) by removing the bolts BL5 and BL6.
  • an oil pan 4b is provided below the engine block 400.
  • the oil pan 4b is provided only on one side (the left side of the paper in Figure 31) of the engine block 400 in the width direction (front-rear direction).
  • the side of the engine 4 where the oil pan 4b is provided protrudes downward further than the side where it is not provided (the right side of the paper in Figure 31).
  • the lower end (bottom surface) of the engine 4 on the side where the oil pan 4b is provided is lower than the lower end (bottom surface) of the side where it is not provided.
  • the "width direction of the engine block 400” is the direction in which the first piston 81 and the second piston 82 are arranged (front-to-rear direction). Furthermore, “one side of the engine block 400 in the width direction” is the rear side of the engine block 400. “The other side of the engine block 400 in the width direction” is the front side of the engine block 400. In other words, the oil pan 4b is provided only in the rear part of the engine block 400.
  • “one side in the width direction of the engine block 400” may be the front side of the engine block 400.
  • the oil pan 4b is provided only in the front part of the engine block 400.
  • the "width direction of the engine block 400” is not limited to the arrangement direction of the first piston 81 and the second piston 82, and may be, for example, a direction perpendicular to the arrangement direction (left-right direction). In this case, the oil pan 4b is provided only in the left part or only in the right part of the engine block 400.
  • first crankshaft 83 and the second crankshaft 84 are arranged parallel to each other with a gap in between in the direction in which the first piston 81 and the second piston 82 are aligned. Note that the upper part of the engine 4 (the part above the wavy line) is omitted in Figures 33 and 34.
  • the first piston 81 and the second piston 82 are arranged in the width direction of the engine block 400. Therefore, the first crankshaft 83 and the second crankshaft 84 are arranged parallel to each other with a gap in the width direction of the engine block 400.
  • the first crankshaft 83 is arranged on one side of the engine block 400 in the width direction.
  • the second crankshaft 84 is arranged on the other side of the engine block 400 in the width direction. Therefore, the oil pan 4b is provided only on the first crankshaft 83 side of the first crankshaft 83 and the second crankshaft 84.
  • the oil pan 4b is integrated with the engine block 400.
  • the oil pan 4b is made of the same material as the engine block 400.
  • This same material is a material that integrally comprises a portion that constitutes the engine block 400 (upper portion) and a portion that constitutes the oil pan 4b (lower portion).
  • the oil pan 4b and the engine block 400 may be made of separate materials, and the material that constitutes the oil pan 4b may be connected to the lower portion of the material that constitutes the engine block 400.
  • the engine block 400 has an inclined portion 401.
  • the inclined portion 401 is formed in the lower portion of the engine block 400.
  • the inclined portion 401 is formed in a block other than the block (first block 400A) in which the oil pan 4b is disposed below (integrated with the lower portion) among the multiple blocks that make up the engine block 400. More specifically, the inclined portion 401 is formed in a block other than the block (first block 400A) in which the oil pan 4b is disposed below (integrated with the lower portion).
  • the inclined portion 401 is formed in the lower portion of the second block 400B among the first block 400A, the second block 400B, and the third block 400C.
  • the oil pan 4b is disposed below (integrated with) one of the multiple blocks (first block 400A).
  • the inclined portion 401 is formed at the bottom of another block (second block 400B) adjacent to the one of the multiple blocks (first block 400A).
  • the inner bottom surface 402 of the inclined portion 401 is inclined so as to become lower from the other side (front side) of the engine block 400 in the width direction toward one side (rear side).
  • the inner bottom surface 402 of the inclined portion 401 is also connected to the inner wall surface 4b2 rising from the inner bottom surface 4b1 of the oil pan 4b.
  • the oil (lubricating oil) that has accumulated on the inner bottom surface on the other side of the engine block 400 in the width direction flows along the inner bottom surface 402 of the inclined portion 401 toward one side of the engine block 400 in the width direction (see arrow C1 in FIG. 33), flows down inside the oil pan 4b, and accumulates inside the oil pan 4b.
  • the inclined portion 401 is provided in the second block 400B of the engine block 400.
  • the inner bottom surface of the third block 400C of the engine block 400 is located higher than the inner bottom surface of the second block 400B.
  • the inner bottom surface 402 of the inclined portion 401 is inclined downward from the third block 400C side of the second block 400B toward the first block 400A side.
  • the height of the upper end of the inner bottom surface 402 of the inclined portion 401 is equal to the height of the inner bottom surface of the third block 400C.
  • the height of the lower end of the inner bottom surface 402 of the inclined portion 401 is equal to the height of the upper end of the inclined portion 401 side (front side) of the oil pan 4b.
  • a protruding plate 4b3 is provided on the inner wall surface 4b2 rising from the inner bottom surface 4b1 of the oil pan 4b.
  • the protruding plate 4b3 is provided on the inner wall surface 4b2 on the front side of the oil pan 4b (the other side in the width direction of the engine block 400).
  • the protruding plate 4b3 is provided to protrude from the inner wall surface 4b2 of the oil pan 4b.
  • the protruding plate 4b3 extends in a direction (rearward) away from the inner wall surface 4b2.
  • the protruding plate 4b3 extends horizontally, but may be inclined downward as it moves away from the inner wall surface 4b2.
  • the protruding plate 4b3 is provided over the entire length in the depth direction (left-right direction) perpendicular to the width direction of the engine block 400. This improves the strength of the oil pan 4b.
  • the electrical equipment (battery controller) 300 is disposed below the engine 4 (below the front part of the engine 4) and on the other side (front side) of the engine block 400 in the width direction.
  • the electrical equipment 300 also overlaps with the oil pan 4b in the vertical direction. In other words, the height of the upper end of the electrical equipment 300 is higher than the height of the lower end of the oil pan 4b and lower than the height of the upper end of the oil pan 4b.
  • the flying device 1 is equipped with a positioning device 47, a camera 57, and a sensor 58.
  • the positioning device 47 includes a GNSS sensor such as a GPS sensor, a compass, etc.
  • the camera 57 acquires image information of the surroundings of the flying device 1.
  • the sensors 58 include a gyro sensor 58A, an acceleration sensor 58B, an altitude sensor 58C, an obstacle sensor 58D, etc.
  • the control device 55 controls the operation of the engine 4 and the motor 5 based on information input from the positioning device 47, the camera 57, the sensor 58, and the operating device 59.
  • the flying device 1 can float in the air due to the lift generated by the rotation of the main rotor 3A.
  • the flying device 1 can change its attitude by rotating the sub-rotor 3B.
  • the flying device 1 can change its attitude by individually controlling the rotation speed of the multiple sub-rotors 3B. For example, if the rotation speed of the third sub-rotor 3B3 and the fourth sub-rotor 3B4 is made higher than the rotation speed of the first sub-rotor 3B1 and the second sub-rotor 3B2, the flying device 1 will assume an inclined attitude with its front lower than its rear. In this state, the flying device 1 will move forward by rotating the main rotor 3A and the sub-rotor 3B.
  • Motors 5 are provided corresponding to the two rotors (upper rotor 3BU and lower rotor 3BL) constituting the third sub-rotor 3B3.
  • Motors 5 are provided corresponding to the two rotors (upper rotor 3BU and lower rotor 3BL) constituting the fourth sub-rotor 3B4.
  • the control device 55 can control each motor 5 individually.
  • the control device 55 can change the rotation speed (rotational speed) of the first motor 5A and the rotation speed (rotational speed) of the second motor 5B individually.
  • Being able to adjust the attitude of the flight device 1 makes it possible to improve the straightness of the flight device 1.
  • the frame members 100 constituting the frame body 8 include horizontal frame members 100A extending horizontally and vertical frame members 100B extending vertically.
  • the horizontal frame members 100A include an upper frame 100C, a first middle frame 100D, a second middle frame 100E, and a lower frame 100F. From the top to the bottom of the frame body 8, the upper frame 100C, the first middle frame 100D, the second middle frame 100E, and the lower frame 100F are arranged in this order.
  • first output shaft 4c and the second output shaft 4d that supply power to the main rotor 3A are also provided at a height corresponding to the upper stage 8B.
  • the second motor 5B is provided at a height corresponding to the upper stage 8B.
  • the first motor 5A is provided at a position higher than the height corresponding to the upper stage 8B.
  • the horizontal frame members 100A include the first frame member 101 to the fourteenth frame member 114.
  • the upper frame 100C is composed of the first frame member 101, the second frame member 102, the third frame member 103, and the fourth frame member 104.
  • the first frame member 101 extends in the front-to-rear direction at the left part of the frame main body 8.
  • the second frame member 102 extends in the front-to-rear direction at the right part of the frame main body 8.
  • the third frame member 103 extends in the left-to-right direction at the front part of the frame main body 8.
  • the fourth frame member 104 extends in the left-to-right direction at the rear part of the frame main body 8.
  • the 13th joint 213, the 14th joint 214, the 15th joint 215, and the 16th joint 216 are provided with connection parts 130 to which the first ends 31a (see FIG. 10) of the connectors 31 (first support members 31A) that connect the main body 6 and the arm 7 are connected.
  • the connection parts 130 are located at the four lower corners of the frame main body 8. As a result, the first ends 31a of the connectors 31 (first support members 31A) are connected to the four lower corners of the frame main body 8, respectively.
  • the base end of the second support member 31B that supports the first arm 7A is also connected to the fifth joint 205.
  • the second support member 31B that supports the first arm 7A is connected to the frame body 8 via the fifth joint 205.
  • the base end of the second support member 31B that supports the fourth arm 7D is also connected to the eighth joint 208.
  • the second support member 31B that supports the fourth arm 7D is connected to the frame body 8 via the eighth joint 208.
  • a top frame 100G is provided at the top of the frame body 8.
  • the top frame 100G is provided so as to protrude upward from the upper frame 100C.
  • the top frame 100G is composed of a first erection member 141 and a second erection member 142.
  • the first erection member 141 and the second erection member 142 are arranged parallel to each other.
  • the first erection member 141 and the second erection member 142 extend in the left-right direction.
  • the protruding frame 9 is composed of multiple straight frame members 100.
  • the frame members 100 (19th frame member 119 to 26th frame member 126) of the protruding frame 9 are connected to the frame members 100 (1st frame member 101 to 8th frame member 108, 15th frame member 115 to 18th frame member 118) that make up the frame main body 8 by joints 200 (1st joint 201 to 4th joint 204).
  • the 21st frame member 121 is connected to the second joint 202 and extends from the second joint 202 toward the left front.
  • the 22nd frame member 122 is connected to the 18th joint 218 and extends from the 18th joint 218 toward the left front.
  • the 21st frame member 121 and the 22nd frame member 122 are arranged side by side with a gap in the vertical direction.
  • the 21st frame member 121 extends horizontally.
  • the 22nd frame member 122 extends at an angle so as to transition upward as it moves away from the frame main body 8. As a result, the vertical gap between the 21st frame member 121 and the 22nd frame member 122 becomes smaller as it moves away from the frame main body 8.
  • the 19th frame member 119 and the 21st frame member 121 approach each other as they move away from the frame main body 8.
  • the 20th frame member 120 and the 22nd frame member 122 approach each other as they move away from the frame main body 8.
  • the left end of the 19th frame member 119 and the left end of the 21st frame member 121 are connected to the upper part of the first connector 145.
  • the left end of the 20th frame member 120 and the left end of the 22nd frame member 122 are connected to the lower part of the first connector 145.
  • the first connector 145 is a cylindrical member that extends in the vertical direction.
  • the first connector 145 is located at the corner 9a of the first protruding frame 9A (see also FIG. 1).
  • the first main rotor 3A1 is attached to the first connector 145 (see FIG. 2).
  • the first frame material 101, the 19th frame material 119, and the 20th frame material 120 form a triangle in plan view.
  • the fifth frame material 105, the 21st frame material 121, and the 22nd frame material 122 form a triangle in plan view.
  • the triangle formed by the first frame material 101, the 19th frame material 119, and the 20th frame material 120 and the triangle formed by the fifth frame material 105, the 21st frame material 121, and the 22nd frame material 122 are positioned so as to overlap in the vertical direction, and are connected via the 15th frame material 115 and the 17th frame material 117.
  • the second protruding frame 9B includes the 23rd frame member 123 to the 26th frame member 126.
  • the 23rd frame member 123 is connected to the third joint 203 and extends from the third joint 203 toward the right rear.
  • the 24th frame member 124 is connected to the 17th joint 217 and extends from the 17th joint 217 toward the right rear.
  • the 23rd frame member 123 and the 24th frame member 124 are arranged side by side with a gap in the vertical direction.
  • the 23rd frame member 123 extends horizontally.
  • the 24th frame member 124 extends at an angle so as to transition upward as it moves away from the frame main body 8. As a result, the vertical gap between the 23rd frame member 123 and the 24th frame member 124 becomes smaller as it moves away from the frame main body 8.
  • the 25th frame member 125 is connected to the fourth joint 204 and extends from the fourth joint 204 towards the front right.
  • the 26th frame member 126 is connected to the eighth joint 208 and extends from the eighth joint 208 towards the front right.
  • the 25th frame member 125 and the 26th frame member 126 are arranged side by side with a gap in the vertical direction.
  • the 25th frame member 125 extends horizontally.
  • the 26th frame member 126 extends at an angle so as to transition upward as it moves away from the frame main body 8. As a result, the vertical gap between the 25th frame member 125 and the 26th frame member 126 becomes smaller as it moves away from the frame main body 8.
  • the 23rd frame member 123 and the 25th frame member 125 approach each other as they move away from the frame main body 8.
  • the 24th frame member 124 and the 26th frame member 126 approach each other as they move away from the frame main body 8.
  • the left end of the 23rd frame member 123 and the left end of the 25th frame member 125 are connected to the upper part of the second connector 146.
  • the left end of the 24th frame member 124 and the left end of the 26th frame member 126 are connected to the lower part of the second connector 146.
  • the second connector 146 is a cylindrical member that extends in the vertical direction.
  • the second connector 146 is located at the corner 9a of the second protruding frame 9B (see FIG. 1).
  • the second main rotor 3A2 is attached to the second connector 146 (see FIG. 2).
  • the second frame material 102, the 23rd frame material 123, and the 25th frame material 125 form a triangle in plan view.
  • the sixth frame material 106, the 24th frame material 124, and the 26th frame material 126 form a triangle in plan view.
  • the triangle formed by the second frame material 102, the 23rd frame material 123, and the 25th frame material 125 and the triangle formed by the sixth frame material 106, the 24th frame material 124, and the 26th frame material 126 are positioned so as to overlap in the vertical direction, and are connected via the 16th frame material 116 and the 18th frame material 118.
  • the multiple (two) straight rods 12 that make up the arm 7 are connected to the frame material 100 by joints 200.
  • the multiple rods that make up the arm 7 (first rods 12A) are connected to the frame material 100 that makes up the protruding frame 9 by joints 200.
  • the multiple rods (first rods 12A) that are arranged in a row in the horizontal direction are each connected to the frame material 100 by joints 200.
  • the first rod 12A constituting the first section 71 of the first arm 7A is connected to the 19th frame member 119 constituting the first protruding frame 9A by the first joint 201 and the 19th joint 219.
  • one of the two first rods 12A is also connected to the first frame member 101 and the seventh frame member 107 constituting the frame main body 8 by the first joint 201.
  • the first rod 12A constituting the first section 71 of the second arm 7B is connected to the 23rd frame member 123 constituting the second protruding frame 9B by the third joint 203 and the 20th joint 220.
  • one of the two first rods 12A is also connected to the second frame member 102 and the seventh frame member 107 constituting the frame main body 8 by the third joint 203.
  • the first rod 12A constituting the first section 71 of the third arm 7C is connected to the 21st frame member 121 constituting the first protruding frame 9A by the second joint 202 and the 21st joint 221.
  • one of the two first rods 12A is also connected to the first frame member 101 and the fourth frame member 104 constituting the frame main body 8 by the second joint 202.
  • the first rod 12A constituting the first section 71 of the fourth arm 7D is connected to the 25th frame member 125 constituting the second protruding frame 9B by the fourth joint 204 and the 22nd joint 222.
  • one of the two first rods 12A is also connected to the second frame member 102 and the fourth frame member 104 constituting the frame main body 8 by the fourth joint 204.
  • the skid 10 has multiple straight frame members 100 and joints 200 that connect the frame members 100 together.
  • the multiple frame members 100 that make up the skid 10 only the first main frame member 151 is labeled with the reference number 100, and of the joints 200 that make up the skid 10, only the 23rd joint 223 is labeled with the reference number 200.
  • the upper end of the third main frame member 153 is connected to the 15th joint 215 via the third relay member 157.
  • a third grounding member 173 (see Figures 4 and 5) that is grounded is attached to the lower end of the third main frame member 153.
  • the upper end of the fourth main frame member 154 is connected to the 16th joint 216 (see Figure 15) via the fourth relay member 158 (see Figure 21).
  • a fourth grounding member 174 (see Figures 4 and 6) that is grounded is attached to the lower end of the fourth main frame member 154.
  • the sub-frame members 160 include the first sub-frame member 161 to the eighth sub-frame member 168.
  • the first sub-frame member 161 and the second sub-frame member 162 intersect at their midpoints and are connected to each other at the intersection by the 23rd joint 223.
  • the third sub-frame member 163 and the fourth sub-frame member 164 intersect at their midpoints and are connected to each other at the intersection by the 24th joint 224.
  • the fifth sub-frame member 165 and the sixth sub-frame member 166 intersect at their midpoints and are connected to each other at the intersection by the 25th joint 225.
  • the seventh sub-frame member 167 and the eighth sub-frame member 168 intersect at their midpoints and are connected to each other at the intersection by the 26th joint 226.
  • the third sub-frame member 163 and the fourth sub-frame member 164 intersect below the first radiator 40A.
  • the third sub-frame member 163 and the fourth sub-frame member 164 are positioned to overlap the first radiator 40A. This makes it possible to prevent foreign objects from hitting the first radiator 40A from below.
  • the seventh sub-frame member 167 and the eighth sub-frame member 168 intersect below the second radiator 40B.
  • the seventh sub-frame member 167 and the eighth sub-frame member 168 are positioned to overlap the second radiator 40B. This makes it possible to prevent foreign objects from hitting the second radiator 40B from below.
  • the first sub-frame member 161 has an upper end connected to the first relay member 155 and a lower end connected to the second main frame member 152.
  • the second sub-frame member 162 has an upper end connected to the second relay member 156 and a lower end connected to the first main frame member 151.
  • the third sub-frame member 163 has an upper end connected to the third relay member 157 and a lower end connected to the first main frame member 151.
  • the fourth sub-frame member 164 has an upper end connected to the first relay member 155 and a lower end connected to the third main frame member 153.
  • the fifth sub-frame member 165 has an upper end connected to the fourth relay member 158 (see FIG. 21) and a lower end connected to the third main frame member 153.
  • the sixth sub-frame member 166 has an upper end connected to the third relay member 157 and a lower end connected to the fourth main frame member 154.
  • the seventh sub-frame member 167 has an upper end connected to the second relay member 156 and a lower end connected to the fourth main frame member 154.
  • the eighth sub-frame member 168 has an upper end connected to the fourth relay member 158 (see FIG. 21) and a lower end connected to the second main frame member 152.
  • the first relay member 155 and the fourth relay member 158 are connected by a first connecting member 175.
  • the second relay member 156 and the third relay member 157 are connected by a second connecting member 176.
  • the first connecting member 175 and the second connecting member 176 are joined so as to intersect below the fuel tank 50 and the casing 51. This makes it possible to prevent foreign objects from hitting the fuel tank 50 and the casing 51 from below.
  • the fitting 200 has multiple connection ports 200a.
  • the thirteenth fitting 213 of the fitting 200 is shown with the symbol 200a for the connection port, but the other fittings also have multiple connection ports 200a.
  • the number of connection ports 200a varies depending on the fitting.
  • the thirteenth fitting 213 to the sixteenth fitting 216 each have three connection ports 200a.
  • the first fitting 201 to the fourth fitting 204 each have five connection ports 200a.
  • the mounting structure of the engine 4 to the frame body 8 will be described.
  • the engine 4 is supported by an engine mount 180 attached to a pipe 170 that constitutes the frame body 8.
  • the pipe 170 is a member that constitutes the frame material 100.
  • the pipe 170 is used as the frame material 100.
  • the engine mount 180 is attached to the pipe 170 that is positioned to the side of the engine 4.
  • the frame body 8 has a first pipe 170A arranged on one side (front) of the engine 4, and a second pipe 170B arranged on the other side (rear) of the engine 4.
  • the first pipe 170A is the seventh frame material 107.
  • the second pipe 170B is the eighth frame material 108.
  • the first pipe 170A and the second pipe 170B extend parallel to each other. In a plan view, the first pipe 170A and the second pipe 170B extend at an angle to a line L5 (see FIG. 1 and FIG. 14) connecting the center of the one rotor 3A1 and the center of the other rotor 3A2.
  • the extension direction of the first pipe 170A and the second pipe 170B is non-parallel and non-perpendicular to the extension direction of the line L5 in a plan view. Additionally, the first pipe 170A and the second pipe 170B extend parallel to the first output shaft 4c and the second output shaft 4d in a plan view.
  • the engine mount 180 includes a first engine mount 180A and a second engine mount 180B.
  • the first engine mount 180A is attached to the first pipe 170A.
  • the second engine mount 180B is attached to the second pipe 170B.
  • the engine 4 is supported by the first engine mount 180A and the second engine mount 180B.
  • the first engine mount 180A supports the front of the engine 4.
  • the second engine mount 180B supports the rear of the engine 4.
  • Two first engine mounts 180A are provided at a distance from each other in the direction along the first pipe 170A. As a result, the front of the engine 4 is supported by the two first engine mounts 180A.
  • Two second engine mounts 180B are provided at a distance from each other in the direction along the second pipe 170B. As a result, the rear of the engine 4 is supported by the two second engine mounts 180B.
  • the engine 4 is supported by the frame body 8 via the engine mount 180 while suspended from pipes (first pipe 170A and second pipe 170B) arranged on the sides of the engine 4.
  • the oil pan 4b of the engine 4 is suspended from the pipes (first pipe 170A and second pipe 170B) together with the engine body 4a.
  • Part of the engine 4 is located below the pipes (first pipe 170A and second pipe 170B).
  • at least part or all of the oil pan 4b of the engine 4 is located below the pipes (first pipe 170A and second pipe 170B).
  • FIG. 22 shows the second engine mount 180B.
  • the configuration of the first engine mount 180A is similar to the configuration of the second engine mount 180B.
  • the third member 183 is a member that connects the first member 181 and the second member 182.
  • a through hole 183a is formed in the third member 183, and this through hole 183a is positioned at a position that overlaps with the through hole formed in the second member 182.
  • the second member 182 and the third member 183 are detachably connected by inserting a bolt (not shown) into the through holes formed in the second member 182 and the third member 183 and screwing a nut (not shown) onto the bolt.
  • a bolt BL2 is fixed to the third member 183.
  • the head of the bolt BL2 is fixed to the third member 183, and the threaded portion extends upward and protrudes from the first member 181.
  • An elastic body 184 made of rubber or the like is fixed to the third member 183, and the head of the bolt BL2 is fixed to the elastic body 184.
  • the threaded portion of the bolt BL2 is inserted into a through hole formed in the first member 181, and a nut NT1 is screwed onto the threaded portion protruding from the through hole. This connects the third member 183 and the second member 182.
  • the first member 181 connected to the engine 4 and the second member 182 connected to the first pipe 170A are connected via the third member 183. This allows the engine 4 to be supported on the first pipe 170A via the first engine mount 180A. The engine 4 is also supported on the second pipe 170B via the second engine mount 180B.
  • the engine mount 180 can be adjusted in position along the axial direction of the pipe 170. Specifically, the first engine mount 180A can be adjusted in position along the axial direction of the first pipe 170A. The second engine mount 180B can be adjusted in position along the axial direction of the second pipe 170B.
  • the position of the engine mount 180 can be adjusted by adjusting (changing) the attachment position of the second member 182 relative to the pipe 170. If the second member 182 and the pipe 170 are attached in a detachable manner using bolts or the like, the attachment position of the second member 182 can be adjusted (changed) by removing the second member 182 from the pipe 170, shifting its position, and reattaching it. If the second member 182 and the pipe 170 are attached in a non-detachable manner using welding or the like, the position of the second member 182 can be adjusted along the pipe 170 when assembling the engine 4 to the frame body 8.
  • the position of the engine 4 can be adjusted along the axial direction of the pipe 170.
  • the axial direction of the pipe 170 (first pipe 170A, second pipe 170B) is parallel to the extension direction of the first output shaft 4c and second output shaft 4d of the engine 4. Therefore, by adjusting the position of the engine 4 along the axial direction of the pipe 170, the position of the engine 4 can be adjusted without changing the orientation (extension direction) of the first output shaft 4c and second output shaft 4d.
  • the engine 4 is attached to the first pipe 170A and the second pipe 170B via the engine mount 180.
  • the first pipe 170A and the second pipe 170B also have the function of preventing deformation of the frame main body 8 (improving the strength of the frame main body 8).
  • the seventh frame member 107 which is the first pipe 170A
  • the eighth frame member 108 which is the second pipe 170B
  • the eighth frame member 108 is also arranged at an angle to the direction in which the fifth frame member 105 and the sixth frame member 106 extend (front-to-back direction). This makes it difficult for the frame main body 8 to deform, even if a force is applied to the frame main body 8 from an oblique direction (for example, the rear right or front left).
  • Figures 38 to 54 are diagrams showing a second embodiment of the flying device 1. Below, the flying device of the second embodiment will be described, focusing on the differences from the first embodiment. Configurations common to the first embodiment will be assigned the same reference numerals as the first embodiment and explanations will be omitted unless necessary.
  • the flying device 1 of the second embodiment has the same basic configuration as the first embodiment.
  • the basic configuration of the flying device 1 of the second embodiment will first be explained.
  • the basic configuration explained below is a configuration common to the first embodiment.
  • a retaining tube 23 is connected to the base ends 7a of the two rods 12.
  • the retaining tube 23 connects the base ends 7a of the two rods 12 to each other.
  • the retaining tube 23 is a retaining tube that constitutes the switching mechanism 25 described in the first embodiment. That is, like the first embodiment, the flying device 1 of the second embodiment also has a switching mechanism 25 that includes a retaining tube 23, a support portion 24, and a pivot shaft 22.
  • the configuration of the switching mechanism 25 is the same as in the first embodiment, so a description thereof will be omitted.
  • the first support member 31A which is the connector 31 that connects the main body 6 and the middle part of the arm 7, extends between the two rods 12 in a plan view. Also, the first support member 31A extends between the first inverter 35A and the second inverter 35B in a plan view.
  • the first end 31a of the first support member 31A is connected to the main body 6 (see FIG. 48).
  • the second end 31b of the first support member 31A is connected to the bracket 32 (see FIG. 46).
  • the second end 31b is connected (pivoted) to a connection plate 64 fixed to the back surface of the upper plate portion 32c of the bracket 32.
  • the blades (first blade 3f, second blade 3h) of the sub rotor 3B and the electrical equipment (inverter 35) are positioned so that they overlap in the vertical direction. This allows the electrical equipment (inverter 35) to be cooled by the downward airflow generated by the rotation of the blades (first blade 3f, second blade 3h). This makes it possible to prevent the electrical equipment (inverter 35) from overheating during flight.
  • the rotor 3 and the engine 4 overlap in the vertical direction. More specifically, the main rotor 3A and the engine 4 overlap in the vertical direction. In addition, the sub-rotor 3B and the engine 4 overlap in the vertical direction. This makes the height of the center of gravity of the main body 6, on which the heavy engine 4 is mounted, roughly the same as the height of the rotor 3, thereby stabilizing the attitude of the flying device 1 during flight.
  • the air guide member 44 has a first plate 44a, a second plate 44b, and a third plate 44c, as in the first embodiment.
  • the air guide member 44 has an extension portion 45 in which the distance between the first plate 44a and the second plate 44b gradually increases as the distance increases upward.
  • the distance between the upper end of the first plate 44a and the upper end of the second plate 44b is wider than the width (front-to-back distance) of the radiator 40.
  • the distance between the lower end of the first plate 44a and the lower end of the second plate 44b is approximately the same as the width (front-to-back distance) of the heat dissipation surface 40a of the radiator 40.
  • the main body 6 is composed of multiple frame materials 100.
  • the main body 6 is composed of multiple frame materials 100 connected by joints 200, but in the second embodiment, the main body 6 is composed of multiple frame materials 100 welded together.
  • the frame main body 8 of the main body 6 is composed of multiple straight frame materials 100 combined into a three-dimensional shape (approximately rectangular parallelepiped shape).
  • the frame materials 100 are composed of cylindrical pipes.
  • the cooling system 90 has connecting pipes consisting of a first pipe 67 that connects the discharge port of the pump 66 to the engine 4, a second pipe 68 that connects the suction port of the pump 66 to the radiator 40, and a third pipe 69 that connects the engine 4 to the radiator 40.
  • the lower end of the pump 66 is located below the engine 4, the radiator 40, and the connecting pipes.
  • the first middle frame 100D is composed of a seventh horizontal frame member 100A7, an eighth horizontal frame member 100A8, a ninth horizontal frame member 100A9, and a tenth horizontal frame member 100A10.
  • the seventh horizontal frame member 100A7 extends in the left-right direction below the fifth horizontal frame member 100A5.
  • the eighth horizontal frame member 100A8 extends in the left-right direction below the sixth frame member 106.
  • the upper end of the third vertical frame member 100B3 is connected to the first horizontal frame member 100A1 behind the first vertical frame member 100B1.
  • the lower end of the third vertical frame member 100B3 is connected to the left part of the fourteenth horizontal frame member 100A14.
  • the upper end of the fourth vertical frame member 100B4 is connected to the second horizontal frame member 100A2 behind the second vertical frame member 100B2.
  • the lower end of the fourth vertical frame member 100B4 is connected to the right part of the fourteenth horizontal frame member 100A14.
  • the left end of the seventh horizontal frame member 100A7 is connected to the vertical midpoint of the first vertical frame member 100B1.
  • the right end of the seventh horizontal frame member 100A7 is connected to the vertical midpoint of the second vertical frame member 100B2.
  • the left end of the eighth horizontal frame member 100A8 is connected to the vertical midpoint of the third vertical frame member 100B3.
  • the right end of the eighth horizontal frame member 100A8 is connected to the vertical midpoint of the fourth vertical frame member 100B4.
  • connection portion 130 is provided at the vertical midpoint of each of the first vertical frame member 100B1, the second vertical frame member 100B2, the third vertical frame member 100B3, and the fourth vertical frame member 100B4.
  • the connection portion 130 is the portion to which the first end 31a (see FIG. 45) of the connector 31 (first support member 31A) that connects the main body 6 and the arm 7 is connected.
  • the first end of the connector 31 (first support member 31A) is connected to each of the four vertical frame members (first vertical frame member 100B1, second vertical frame member 100B2, third vertical frame member 100B3, and fourth vertical frame member 100B4) of the frame main body 8 via the connection portion 130.
  • a top frame 100G is provided at the top of the frame main body 8.
  • the top frame 100G is provided to protrude upward from the upper frame 100C.
  • the top stage 8A of the frame main body 8, on which the positioning device 47 is disposed, is formed above the top frame 100G.
  • the lower frame 100G1 has a first lower frame member 100G3, a second lower frame member 100G4, and a connecting plate 100G5.
  • the first lower frame member 100G3 and the second lower frame member 100G4 are formed in an arch shape.
  • the first lower frame member 100G3 is attached to the first horizontal frame member 100A1.
  • the second lower frame member 100G4 is attached to the second horizontal frame member 100A2.
  • the connecting plate 100G5 connects the upper part of the first lower frame member 100G3 and the upper part of the second lower frame member 100G4.
  • the upper frame 100G2 is connected to the lower frame 100G1.
  • the upper frame 100G2 has a first upper frame member 100G6, a second upper frame member 100G7, and a connecting member 100G8.
  • the first upper frame member 100G6 and the second upper frame member 100G7 are formed in an arch shape.
  • the first upper frame member 100G6 is attached to the upper part of the first lower frame member 100G3.
  • the second upper frame member 100G7 is attached to the upper part of the second lower frame member 100G4.
  • the connecting member 100G8 connects the upper part of the first upper frame member 100G6 and the upper part of the second upper frame member 100G7.
  • a positioning device 47 is attached to the top of the upper frame 100G2.
  • the positioning device 47 is attached to each of the first upper frame member 100G6 and the second upper frame member 100G7.
  • a flight controller 48 is attached to the top of the lower frame 100G1.
  • the flight controller 48 is attached to the connecting plate 100G5.
  • a reserve tank 65 is attached to the side of the lower frame 100G1.
  • the reserve tank 65 is attached to the second lower frame member 100G4.
  • the protruding frame 9 is formed integrally with the frame body 8.
  • the protruding frame 9 was connected to the frame body 8 by a joint 200, but in the second embodiment, the protruding frame 9 is formed integrally with the frame body 8 without a joint.
  • the first protruding frame 9A has a first protruding frame member 9A1 and a second protruding frame member 9A2.
  • the first protruding frame member 9A1 is formed integrally with the third horizontal frame member 100A3 and extends from the left end of the third horizontal frame member 100A3 toward the left rear.
  • the second protruding frame member 9A2 is formed integrally with the fourth horizontal frame member 100A4 and extends from the left end of the fourth horizontal frame member 100A4 toward the left front.
  • the first protruding frame member 9A1 and the second protruding frame member 9A2 approach each other as they move away from the frame body 8.
  • the left end of the first protruding frame member 9A1 and the left end of the second protruding frame member 9A2 are connected to the first connector 145.
  • the first main rotor 3A1 is attached to the first connector 145 (see FIG. 39).
  • the second protruding frame 9B has a third protruding frame member 9B1 and a fourth protruding frame member 9B2.
  • the third protruding frame member 9B1 is formed integrally with the third horizontal frame member 100A3 and extends from the right end of the third horizontal frame member 100A3 toward the rear right.
  • the fourth protruding frame member 9B2 is formed integrally with the fourth horizontal frame member 100A4 and extends from the right end of the fourth horizontal frame member 100A4 toward the front right.
  • the third protruding frame member 9B1 and the fourth protruding frame member 9B2 approach each other as they move away from the frame body 8.
  • the right end of the third protruding frame member 9B1 and the right end of the fourth protruding frame member 9B2 are connected to the second connector 146.
  • the second main rotor 3A2 is attached to the second connector 146 (see FIG. 39).
  • the first protruding frame member 9A1, the third horizontal frame member 100A3, and the third protruding frame member 9B1 are each composed of a single frame member.
  • the second protruding frame member 9A2, the fourth horizontal frame member 100A4, and the fourth protruding frame member 9B2 are each composed of a single frame member.
  • the single frame member that constitutes the first protruding frame member 9A1, the third horizontal frame member 100A3, and the third protruding frame member 9B1, and the single frame member that constitutes the second protruding frame member 9A2, the fourth horizontal frame member 100A4, and the fourth protruding frame member 9B2 are connected via the first connector 145 and the second connector 146.
  • the first protruding frame member 9A1 is attached via a support portion 24 to a pivot shaft 22 to which the base end of the first arm 7A is connected.
  • the second protruding frame member 9A2 is attached via a support portion 24 to a pivot shaft 22 to which the base end of the third arm 7C is connected.
  • the third protruding frame member 9B1 is attached via a support portion 24 to a pivot shaft 22 to which the base end of the second arm 7B is connected.
  • the fourth protruding frame member 9B2 is attached via a support portion 24 to a pivot shaft 22 to which the base end of the fourth arm 7D is connected.
  • the vertical midpoint of the first vertical frame member 100B1 and the first protruding frame member 9A1 are connected by a first diagonal member 9C1.
  • the vertical midpoint of the third vertical frame member 100B3 and the second protruding frame member 9A2 are connected by a second diagonal member 9C2.
  • the vertical midpoint of the second vertical frame member 100B2 and the third protruding frame member 9B1 are connected by a third diagonal member 9C3.
  • the vertical midpoint of the fourth vertical frame member 100B4 and the fourth protruding frame member 9B2 are connected by a fourth diagonal member 9C4.
  • the first diagonal member 9C1 to the fourth diagonal member 9C4 are second support members 31B (see Figures 40 to 43) that support the arm 7 on the main body 6 side of the pivot part 21.
  • the second support member 31B directly supports the arm 7, but in the second embodiment, the second support members 31B (the first diagonal member 9C1 to the fourth diagonal member 9C4) indirectly support the arm 7 via the protruding frame 9.
  • the skid 10 includes a front skid 10A and a rear skid 10B.
  • the front skid 10A has an upper front portion 10a extending in the left-right direction, a left front portion 10b extending downward from the left end of the upper front portion 10a, and a right front portion 10c extending downward from the right end of the upper front portion 10a.
  • the upper front portion 10a is connected to the 13th horizontal frame member 100A13 (see Figure 47) of the frame body 8.
  • the rear skid 10B has a rear upper portion 10d extending in the left-right direction, a rear left portion 10e extending downward from the left end of the rear upper portion 10d, and a rear right portion 10f extending downward from the right end of the rear upper portion 10d.
  • the rear upper portion 10d is connected to the 14th horizontal frame member 100A14 (see FIG. 47) of the frame body 8.
  • the front skid 10A has a front connector 191 that connects the front left section 10b and the front right section 10c.
  • the rear skid 10B has a rear connector 192 that connects the rear left section 10e and the rear right section 10f.
  • the front left portion 10b of the front skid 10A and the rear left portion 10e of the rear skid 10B are connected by a first left connector 193, a second left connector 194, and a third left connector 195.
  • the first left connector 193 and the second left connector 194 cross each other halfway.
  • the first left connector 193 connects the lower portion of the front left portion 10b to the upper portion of the rear left portion 10e.
  • the second left connector 194 connects the upper portion of the front left portion 10b to the lower portion of the rear left portion 10e.
  • the third left connector 195 connects the lower portion of the front left portion 10b to the lower portion of the rear left portion 10e.
  • the front right portion 10c of the front skid 10A and the rear right portion 10f of the rear skid 10B are connected by a first right connecting member 196, a second right connecting member 197, and a third right connecting member 198.
  • the first right connecting member 196 and the second right connecting member 197 cross each other halfway.
  • the first right connecting member 196 connects the upper portion of the front right portion 10c to the lower portion of the rear right portion 10f.
  • the second right connecting member 197 connects the lower portion of the front right portion 10c to the upper portion of the rear right portion 10f.
  • the third right connecting member 198 connects the lower portion of the front right portion 10c to the lower portion of the rear right portion 10f.
  • the engine 4 is supported by an engine mount 180 attached to a pipe 170 that constitutes the frame body 8.
  • the frame material 100 is composed of pipes 170.
  • the pipes 170 to which the engine mount 180 is attached are the third pipe 170C and the fourth pipe 170D that are disposed below the engine 4.
  • the third pipe 170C is the ninth horizontal frame material 100A9 (see Figure 47).
  • the fourth pipe 170D is the tenth horizontal frame material 100A10 (see Figure 47).
  • the third pipe 170C and the fourth pipe 170D extend at an angle to a line L5 connecting the center of one rotor (first main rotor) 3A1 and the center of the other rotor (second main rotor) 3A2 in a plan view.
  • the third pipe 170C and the fourth pipe 170D extend intersecting with the line L5 in a plan view.
  • the angle at which the third pipe 170C and the fourth pipe 170D intersect with the line L5 is not a right angle.
  • the axial direction of the pipes (first pipe 170A and second pipe 170B) to which the engine mount 180 is attached is parallel to the direction in which the first output shaft 4c and second output shaft 4d extend (see FIG. 14).
  • the axial direction of the pipes (third pipe 170C and fourth pipe 170D) to which the engine mount 180 is attached is perpendicular to the direction in which the first output shaft 4c and second output shaft 4d extend.
  • the engine mount 180 is attached to the pipe 170 via a connecting plate 149 arranged below the engine 4.
  • the connecting plate 149 includes a first connecting plate 149A and a second connecting plate 149B.
  • the first connecting plate 149A and the second connecting plate 149B are arranged at a distance from each other in the axial direction of the third pipe 170C and the fourth pipe 170D.
  • the first connecting plate 149A connects the seventh horizontal frame member 100A7, the third pipe 170C (the ninth horizontal frame member 100A9), and the fourth pipe 170D (the tenth horizontal frame member 100A10).
  • the second connecting plate 149B connects the eighth horizontal frame member 100A8, the third pipe 170C (the ninth horizontal frame member 100A9), and the fourth pipe 170D (the tenth horizontal frame member 100A10).
  • the engine mount 180 includes a third engine mount 180C attached to the first connecting plate 149A and a fourth engine mount 180D attached to the second connecting plate 149B.
  • the engine 4 is supported on the frame body 8 by a third engine mount 180C and a fourth engine mount 180D.
  • the third engine mount 180C supports the front of the engine 4.
  • the front of the engine 4 is supported by two third engine mounts 180C.
  • the two third engine mounts 180C are arranged at a distance in the left-right direction.
  • the fourth engine mount 180D supports the rear of the engine 4.
  • the rear of the engine 4 is supported by two fourth engine mounts 180D.
  • the two fourth engine mounts 180D are arranged at a distance in the left-right direction.
  • the configuration of the engine mount 180 will be described below with reference to Figure 54.
  • the engine mount 180 has a base member 185, a support bracket 186, and an elastic body 187.
  • the base member 185 is fixed to the connecting plate 149 by welding or the like.
  • the support bracket 186 is attached to the engine 4 by a fastener such as a bolt BL3.
  • the elastic body 187 is interposed between the base member 185 and the support bracket 186.
  • the elastic body 187, the base member 185, and the support bracket 186 are connected by a bolt BL4 or the like.
  • the support bracket 186 connected to the engine 4 and the base member 185 fixed to the connecting plate 149 are connected via the elastic body 187, so that the engine 4 is supported on the connecting plate 149 via the engine mount 180.
  • the connecting plate 149 is connected to the pipes (third pipe 170C, fourth pipe 170D, etc.), the engine 4 is supported on the pipes (third pipe 170C, fourth pipe 170D, etc.) via the engine mount 180.
  • the cooling device (radiator) 40 is configured to water-cool the battery 46 (to cool the cooling water for cooling the battery 46).
  • the pump 66 circulates the cooling water between the inside (or near the outside) of the battery 46 and the cooling device (radiator) 40. Therefore, the pump 66, the cooling device (radiator) 40, and the inside (or near the outside) of the battery 46 are connected by piping for circulating the cooling water.
  • multiple sub-rotors 3B are arranged around the aircraft body 2, and the main rotor 3A is arranged inside a circle CL1 that connects the centers of the multiple sub-rotors 3B.
  • multiple main rotors 3A are arranged around the aircraft body 2 in a plan view, and the sub-rotors 3B are arranged outside a circle CL2 that connects the centers of the multiple main rotors 3A.
  • the sub-rotor 3B is positioned outboard of the multiple main rotors 3A, so attitude control by the sub-rotor 3B can be stably performed in a flying device 1 equipped with multiple main rotors 3A.
  • the aircraft 2 also has a main body 6 and a number of arms 7 extending radially from the main body 6, the sub-rotors 3B are attached to the arms 7, and the main rotors 3A are positioned between adjacent arms 7.
  • the flight device 1 also has an engine 4 and a motor 5, and the main rotor 3A rotates by the driving force supplied from the engine 4, and the sub-rotor 3B rotates by the driving force supplied from the motor 5.
  • the main rotor 3A can be rotated by the large driving force supplied from the engine 4, so it is possible to obtain a large lift force for lifting the aircraft 2.
  • the sub-rotor 3B can be rotated by the driving force supplied from the motor 5, so that the rotation speed of the sub-rotor 3B can be easily controlled.
  • the sub-rotor 3B also has a first rotor 3BU and a second rotor 3BL, and the first rotor 3BU and the second rotor 3BL are arranged in a vertically overlapping position.
  • the force generated by the rotation of the sub-rotor 3B can be increased by the two rotors, the first rotor 3BU and the second rotor 3BL, improving the attitude control performance of the aircraft 2.
  • the first rotor 3BU and the second rotor 3BL can be arranged compactly in a plan view.
  • the main rotor 3A also has a rotating shaft 3c and blades 3d attached to the rotating shaft 3c, and the blades 3d are attached to the lower part of the rotating shaft 3c.
  • This configuration allows the first rotor 3BU and the second rotor 3BL to be arranged compactly and close to each other in the vertical direction while reliably avoiding interference between the first blade 3f and the second blade 3h.
  • the main rotor 3A is positioned lower than the first rotor 3BU and the second rotor 3BL, so the effect of the downward airflow (downwash) generated by the rotation of the main rotor 3A on the sub-rotor 3B can be reduced.
  • the first rotor 3BU and the second rotor 3BL are positioned higher than the main rotor 3A, attitude control of the aircraft 2 can be performed stably.
  • This configuration improves the strength of the base end 7a, which is the attachment portion of the arm 7 to the main body 6. It also reduces the effect of the arm 7 on the airflow caused by the rotation of the rotor 3.
  • the arm 7 can be supported by the connector 31 at a position between multiple rods 12.
  • the flying device 1 also includes a motor 5 that supplies driving force to drive the rotor 3, and the electrical equipment 35 is an inverter that controls the power supplied to the motor 5.
  • This configuration allows the inverter 35 to be placed close to the motor 5, making it possible to shorten the wiring connecting the inverter 35 and the motor 5.
  • the electrical equipment 35 can be cooled by the airflow generated by the rotation of the blades 3f and 3h. Therefore, it is possible to cool the electrical equipment 35 without the need for a separate cooling device.
  • the electrical equipment 35 can be rotated together with the arm 7, preventing the rotation of the arm 7 from placing a load on the wiring connecting the electrical equipment 35 and the motor 5.
  • It also has a pivot part 21 that supports the arm 7 so that it can rotate relative to the main body part 6, and the pivot part 21 is provided with a switching mechanism 25 that can switch between a first state that allows the arm 7 to rotate relative to the main body part 6 and a second state that does not allow the arm 7 to rotate relative to the main body part 6.
  • This configuration reliably prevents the arm 7 from rotating inadvertently when the flying device 1 is in use, and allows the arm 7 to rotate when not in use, making the flying device 1 compact.
  • This configuration prevents the arm 7 from rotating upward beyond a predetermined position, so that when the arm 7 is rotated upward to use the flying device 1, the arm 7 can be reliably positioned in the appropriate predetermined position.
  • the length of the rotating portion of the arm 7 can be made shorter than when the entire arm 7 is rotated relative to the main body 6. This reduces the load applied to the arm 7 when it is rotated, effectively preventing damage to the arm 7.
  • This configuration improves the strength of the first portion 71 of the arm 7 against horizontal forces.
  • air currents can pass between the rods 12 arranged side by side, reducing the air resistance experienced by the arm 7 during flight.
  • the flying device 1 also includes a stopper 30 that prevents the arm 7 from rotating upward from a predetermined position.
  • the stopper 30 is a plate 30 that is disposed between the first portion 71 and the second portion 72, and the multiple rods 12 are connected to the plate 30.
  • the flying device 1 also includes a support member 31 that is connected to the main body 6 and supports the arm 7 from below.
  • the support member 31 includes a first support member 31A that supports the arm 7 on the rotor 3 side of the pivot support 21, and a second support member 31B that supports the arm 7 on the main body 6 side of the pivot support 21.
  • the arm 7 is supported by the support members 31 on both the rotor 3 side and the main body 6 side of the pivot part 21, so the arm 7 can be firmly supported from below. This effectively prevents the arm 7 from shaking vertically.
  • the flying device 1 also includes a stopper 30 that prevents the arm 7 from rotating upward beyond a predetermined position.
  • the arm 7 has a first portion 71 fixed to the main body 6 and a second portion 72 that is rotatable relative to the first portion 71 and has a rotor 3 attached thereto.
  • the stopper 30 is a plate that is disposed between the first portion 71 and the second portion 72, and the second support member 31B is connected to the plate 30.
  • the plate constituting the stopper 30 is disposed between the first portion 71 and the second portion 72, so that when the second portion 72 is rotated, the stopper 30 can reliably prevent the second portion 72 from rotating upward.
  • the second support member 31B is connected to the plate 30, the strength of the plate 30 can be improved.
  • the flying device 1 is equipped with a skid 10 attached to the lower part of the main body 6, and when the arm 7 is rotated downward, the tip of the arm 7 is positioned above the lower end of the skid 10.
  • This configuration makes it possible to prevent the tip of the arm 7 from coming into contact with the ground when the arm 7 is rotated downward.
  • the flying device 1 also includes a main body 6, a number of arms 7 extending from the main body 6, a number of rotors 3 attached to the arms 7, and an engine 4 that supplies driving force to the rotors 3.
  • the rotors 3 include a first rotor 3A1 arranged on one side of the engine 4 and a second rotor 3A2 arranged on the other side of the engine 4.
  • the engine 4 has a first output shaft 4c that supplies driving force to the first rotor 3A1 and a second output shaft 4d that supplies driving force to the second rotor 3A2.
  • the engine 4 has a first output shaft 4c that supplies driving force to one rotor 3A1 and a second output shaft 4d that supplies driving force to the other rotor 3A2, simplifying the rotation transmission path that distributes and transmits the rotation generated by the engine 4 to multiple rotors 3.
  • the main body 6 also has a frame body 8 formed to surround the engine 4 in a plan view, and the frame body 8 has a first frame member 101 arranged on one side of the engine 4 and a second frame member 102 arranged on the other side of the engine 4, with the first output shaft 4c extending at an angle relative to the first frame member 101 in a plan view, and the second output shaft 4d extending at an angle relative to the second frame member 102 in a plan view.
  • This configuration allows the engine 4 to be positioned at an angle relative to the frame body 8, making it possible to reduce the size of the frame body 8.
  • the direction in which the first output shaft 4c extends and the direction in which the second output shaft 4d extends are not on the same line and are parallel to each other.
  • the engine 4 also has an engine body 4a from which the first output shaft 4c and the second output shaft 4d protrude, and the engine body 4a is disposed obliquely relative to the frame body 8 in a plan view.
  • the engine body 4a can be housed within the frame body 8, making it possible to reduce the size of the frame body 8 on which the engine 4 is mounted.
  • the intake pipe (first connection pipe 61) connected to the intake port 4e of the engine 4 can be extended above the engine 4, making it possible to reduce the size of the flying device 1 in a plan view.
  • the engine 4 is positioned so that the exhaust port 4f faces upward.
  • the exhaust pipe (second connection pipe 62) connected to the exhaust port 4f of the engine 4 can be extended above the engine 4, making it possible to reduce the size of the flying device 1 in a plan view.
  • the flying device 1 comprises a main body 6, an arm 7 extending from the main body 6, and a rotor 3 attached to the arm 7, and the main body 6 is composed of multiple straight frame members 100 and joints 200 that connect the frame members 100 together.
  • the arm 7 also has a straight rod 12, which is connected to the frame material 100 by a joint 200.
  • This configuration allows the arm 7 and main body 6 to be securely connected, and also allows easy connection and disconnection.
  • the main body 6 also has a protruding frame 9 that protrudes from the frame main body 8 and to which a rotor 3 other than the rotor 3 attached to the arm 7 is attached.
  • the protruding frame 9 is made up of multiple straight frame members 100, and the frame members 100 of the protruding frame 9 are connected to the frame members 100 that constitute the frame main body 8 by joints 200.
  • This configuration allows the weight of the protruding frame 9, on which a rotor 3 other than the rotor 3 attached to the arm 7 is attached, to be reduced, and allows the protruding frame 9 to be easily and reliably connected to the frame body 8.
  • This configuration makes it easy to form a skid 10 with a shape and size that matches the shape and weight of the main body 6.
  • This configuration allows the joint 200 and the frame material 100 to be securely connected, and also provides high strength to the connection between the joint 200 and the frame material 100.
  • the frame material 100 is made of cylindrical pipes 170 that are lightweight and resistant to external forces, making it possible to construct the main body 6 with high strength and light weight.
  • the frame material 100 is made of a high-strength, lightweight material, so the main body 6 can be made to be high-strength and lightweight.
  • the drive unit also includes an engine 4, and the cooling device 40 includes a radiator 40, which is disposed below the blades 3d of the rotor (main rotor 3A).
  • the downward airflow generated by the rotation of the blades 3d of the rotor 3 can be more reliably directed at the cooling device 40.
  • the cooling device 40 can be cooled very efficiently.
  • the flying device 1 also includes a wind guide member 44 that guides the downward airflow generated by the rotation of the blades 3d toward the radiator 40.
  • the downward airflow generated by the rotation of the blade 3d can be guided toward the cooling device 40 by the air guide member 44, so that the airflow can be reliably directed toward the cooling device 40.
  • the air guide member 44 is positioned so that it overlaps with the rotation trajectory R1 of the blade 3d in a plan view.
  • This configuration ensures that the downward airflow generated by the rotation of the blade 3d can be guided toward the air guide member 44.
  • the airflow guided by the air guide member 44 can be directed toward the heat dissipation surface 40a of the cooling device 40, allowing the heat dissipation surface 40a to be cooled efficiently.
  • the batteries 46 are placed on one side and the other side of the oil pan 4b, so that the weight balance at the height of the lower part of the engine 4 can be adjusted by the two batteries 46.
  • the flying device 1 comprises an airframe 2, a rotor 3 attached to the airframe 2, and an engine 4 that supplies the driving force to rotate the rotor 3, and the rotor 3 and the engine 4 overlap in the vertical direction.
  • the fuse box that houses the fuse can also function to protect the fuel tank 50.
  • first support part 9 and the second support part 7 are connected and integrated, thereby improving the rigidity of the first support part 9 and the second support part 7.
  • the flying device 1 comprises an airframe 2 and a number of rotors 3 attached to the airframe 2, the number of rotors 3 including a main rotor 3A and a sub-rotor 3B, the airframe 2 has a main body 6 and an arm 7 extending from the main body 6 and having the sub-rotor 3B attached to its tip, the main body 6 has a frame main body 8 on which a drive unit for driving the main rotor 3A is mounted, and a protruding frame 9 protruding from the frame main body 8 and having the main rotor 3A attached, the base end of the arm 7 being connected to the protruding frame 9 of the main body 6.
  • the protruding frame 9 also includes multiple frame members 100 that extend away from the frame body 8 and approach each other in the protruding direction to form corners 9a, the main rotor 3A is attached to the corners 9a, and the arm 7 is connected to the portion between the base end 9b of the protruding frame 9 and the corners 9a.
  • the arm 7 is connected to the portion between the corner 9a and the base end 9b of the protruding frame 9, at a position closer to the base end 9b than the corner 9a.
  • base ends 7a of multiple arms 7 are connected to one protruding frame 9.
  • the protruding frame 9 to which the main rotor 3A is attached can be made stronger than the arm 7 on which the sub-rotor 3B is supported.
  • the flying device 1 comprises an airframe 2, a rotor 3 attached to the airframe 2, and an engine 4 that supplies the driving force to rotate the rotor 3.
  • the airframe 2 has a frame body 8 formed by combining a number of pipes 170, and the engine 4 is supported by an engine mount 180 attached to the pipe 170.
  • the engine 4 which is a heavy object, can be reliably supported by the engine mount 180 on the frame body 8, which is made up of multiple pipes 170.
  • the engine mount 180 can also be adjusted in position along the axial direction of the pipe 170.
  • the engine mount 180 is attached to a pipe 170 arranged on the side of the engine 4, and the engine 4 is supported on the frame body 8 via the engine mount 180 while suspended from the pipe 170 arranged on the side of the engine 4.
  • the engine 4 can be supported on the upper pipe 170 of the frame body 8 via the engine mount 180, so that the lower pipe 170 of the frame body 8 can be used to support other equipment located below the engine 4.
  • the engine 4 also has an engine body 4a and an oil pan 4b provided below the engine body 4a, and the oil pan 4b is suspended from a pipe 170 together with the engine body 4a.
  • the engine 4 can be supported on the frame body 8 without the need for a member to support the oil pan 4b.
  • the rotor 3 includes a first rotor 3A1 arranged on one side of the engine 4 and a second rotor 3A2 arranged on the other side of the engine 4 in a plan view, and the engine 4 has a first output shaft 4c that supplies driving force to the first rotor 3A1 and a second output shaft 4d that supplies driving force to the second rotor 3A2, and the first pipe 170A and the second pipe 170B extend parallel to the first output shaft 4c and the second output shaft 4d in a plan view.
  • the position of the engine 4 can be adjusted along the first pipe 170A and the second pipe 170B without changing the direction in which the first output shaft 4c and the second output shaft 4d extend.
  • the flying device 1 also includes a main body 6, an arm 7 extending from the main body 6, a rotor 3 (sub-rotor 3B) attached to the arm 7, a drive unit (engine) 4 that drives the rotor 3, and a cooling system 90 that water-cools the drive unit 4.
  • the cooling system 90 includes a cooling device 40 that cools the coolant supplied to the drive unit 4, and a pump 66 that circulates the coolant between the cooling device 40 and the drive unit 4.
  • the pump 66 is located at the bottom of the main body 6.
  • the drive unit 4 that drives the rotor 3 can be water-cooled.
  • the pump 66 for circulating the coolant is located at the bottom of the main body 6, the cooling water can be circulated smoothly even if the attitude of the flying device 1 is tilted during flight. In particular, the cooling water can be returned smoothly to the pump 66. Furthermore, if air is contained in the cooling water, the air moves upward, preventing the air from entering the pump 66.
  • the pump 66 is also positioned below the cooling device 40.
  • This configuration allows for smooth return of cooling water from the cooling device 40 to the pump 66.
  • the cooling device 40 also includes a radiator 40, and the pump 66 is positioned below the radiator 40.
  • This configuration allows for smooth return of cooling water from the radiator 40 to the pump 66.
  • the drive unit 4 also includes an engine 4, and the cooling device 40 cools the coolant supplied to the engine 4.
  • the engine 4 can be efficiently cooled by the water-cooled cooling system 90.
  • the cooling device 40 is also located below the engine 4.
  • This configuration allows for smooth recirculation of cooling water from the engine 4 to the cooling device 40.
  • the cooling system 90 also has connecting pipes consisting of a first pipe 67 that connects the discharge port of the pump 66 to the drive unit 4, a second pipe 68 that connects the suction port of the pump 66 to the cooling device 40, and a third pipe 69 that connects the drive unit 4 to the cooling device 40, and the lower end of the pump 66 is located lower than the drive unit 4, the cooling device 40, and the connecting pipes.
  • the pump 66 is located at the very bottom of the cooling system 90, so cooling water can be smoothly returned to the pump 66 even if the flying device 1 tilts during flight.
  • the radiator 40 also includes a first radiator 40A and a second radiator 40B arranged side by side in the horizontal direction, and the pump 66 is arranged between the first radiator 40A and the second radiator 40B in the horizontal direction.
  • This configuration allows the cooling water to flow smoothly and evenly between one pump 66 and two radiators (first radiator 40A, second radiator 40B).
  • the cooling system 90 also has connecting pipes consisting of a first pipe 67 connecting the discharge port of the pump 66 to the drive unit 4, a second pipe 68 connecting the suction port of the pump 66 to the cooling device 40, and a third pipe 69 connecting the drive unit 4 to the cooling device 40.
  • the second pipe 68 branches into two branch pipes 60A and 60B midway, one of which, the branch pipe 60A, is connected to the first radiator 40A, and the other branch pipe 60B is connected to the second radiator 40B.
  • the flying device 1 also includes a fuel tank 50 that stores fuel to be supplied to the engine 4.
  • the fuel tank 50 has a truncated cone-shaped lower portion 50a whose diameter decreases toward the bottom. At least a portion of the cooling system 90 is positioned so as to overlap the fuel tank 50 in a plan view, and its vertical position overlaps with the lower portion 50a of the fuel tank 50.
  • At least a part of the cooling system 90 can be placed near the truncated cone-shaped lower part 50a of the fuel tank 50, which reduces the space required to place the fuel tank 50 and the cooling system 90, making it possible to miniaturize the flying device 1.
  • the engine 4 also includes pistons (first piston 81, second piston 82), a crankshaft (first crankshaft 83, second crankshaft 84) that rotates with the reciprocating motion of the pistons, an engine block 400 that houses the pistons and the crankshaft, and an oil pan 4b provided below the engine block 400, with the oil pan 4b provided on only one of the two widthwise sides of the engine block 400.
  • the oil pan 4b is provided on one side of the engine block 400 in the width direction, so the bottom surface of the engine block 400 is higher on the other side in the width direction of the engine block 400 than on the other side.
  • a space S2 is created below the engine 4 on the other side in the width direction where the bottom surface is higher, and this space S2 can be used effectively.
  • equipment for driving the apparatus can be placed in the space S2.
  • the pistons include a first piston 81 and a second piston 82 arranged opposite each other, and the crankshafts include a first crankshaft 83 that rotates with the reciprocating motion of the first piston 81, and a second crankshaft 84 that rotates with the reciprocating motion of the second piston 82.
  • This configuration allows for effective use of the space S2 that is created below the opposed piston engine in a device that uses an opposed piston engine as the engine 4.
  • the first crankshaft 83 and the second crankshaft 84 are arranged parallel to each other with a gap in the width direction, and the oil pan 4b is provided on the first crankshaft 83 side.
  • the engine block 400 also has an inclined portion 401 in which the inner bottom surface 402 slopes downward from the other side to one side in the width direction.
  • the oil (lubricating oil) that has accumulated on the inner bottom surface on the other side of the width of the engine block 400 can be made to flow along the inner bottom surface 402 of the inclined portion 401 toward one side of the width of the engine block 400, and down into the oil pan 4b.
  • the engine block 400 is constructed by combining multiple blocks (first block 400A, second block 400B, third block 400C), the oil pan 4b is disposed below one of the multiple blocks (first block 400A), and the inclined portion 401 is formed at the bottom of another block (second block 400B) adjacent to the one of the multiple blocks.
  • the inclined portion 401 is provided on one side of the engine block 400 in the depth direction perpendicular to the width direction.
  • the inclined portion 401 can be made smaller than when the inclined portion 401 is provided over the entire length in the depth direction, so the engine 4 can be made smaller.
  • the inclined portion 401 is formed with a U-shaped cross section.
  • This configuration allows the oil that has accumulated inside the inclined portion 401 to flow quickly and reliably toward the oil pan 4b.
  • the inclined portion 401 can be made small, allowing the engine 4 to be made smaller.
  • This configuration allows electrical equipment and other devices to be placed in the space S2 created below the other side of the engine 4 in the width direction, making it possible to make the flying device 1 compact.
  • the flying device 1 also includes electrical equipment 300 mounted on the main body 6, which is located below the engine 4 and on the other side of the engine block 400 in the width direction, and its vertical position overlaps with the oil pan 4b.
  • the electrical equipment 300 can be placed in the space formed below the other widthwise side of the engine block 400 (the side where the oil pan 4b is not provided). Therefore, in the flying device 1, the electrical equipment 300 and the engine 4 can be placed close to each other in a compact manner. This allows the flying device 1 to be made smaller.
  • the flying device 1 also includes a motor 5 that supplies driving force to the rotor 3, and a battery 46 that stores the power supplied to the motor 5, and the electrical equipment 300 is a battery controller that controls the battery 46.
  • This configuration allows the battery controller 300 that controls the battery 46 and the engine 4 to be placed close together in a compact manner in the flight device 1.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Wind Motors (AREA)
PCT/JP2022/048081 2022-12-27 2022-12-27 飛行装置 WO2024142196A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2024566981A JPWO2024142196A1 (enrdf_load_stackoverflow) 2022-12-27 2022-12-27
PCT/JP2022/048081 WO2024142196A1 (ja) 2022-12-27 2022-12-27 飛行装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/048081 WO2024142196A1 (ja) 2022-12-27 2022-12-27 飛行装置

Publications (1)

Publication Number Publication Date
WO2024142196A1 true WO2024142196A1 (ja) 2024-07-04

Family

ID=91716650

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/048081 WO2024142196A1 (ja) 2022-12-27 2022-12-27 飛行装置

Country Status (2)

Country Link
JP (1) JPWO2024142196A1 (enrdf_load_stackoverflow)
WO (1) WO2024142196A1 (enrdf_load_stackoverflow)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106542093A (zh) * 2017-01-11 2017-03-29 刘海涛 高效多旋翼飞行器
WO2017143365A1 (en) * 2016-02-26 2017-08-31 HARUTYUNYAN, Hayk Multicopter frame
CN107434039A (zh) * 2016-05-25 2017-12-05 天津宏宇天翔科技有限公司 一种无人机
JP7004369B1 (ja) * 2021-11-08 2022-01-21 株式会社石川エナジーリサーチ 飛行装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017143365A1 (en) * 2016-02-26 2017-08-31 HARUTYUNYAN, Hayk Multicopter frame
CN107434039A (zh) * 2016-05-25 2017-12-05 天津宏宇天翔科技有限公司 一种无人机
CN106542093A (zh) * 2017-01-11 2017-03-29 刘海涛 高效多旋翼飞行器
JP7004369B1 (ja) * 2021-11-08 2022-01-21 株式会社石川エナジーリサーチ 飛行装置

Also Published As

Publication number Publication date
JPWO2024142196A1 (enrdf_load_stackoverflow) 2024-07-04

Similar Documents

Publication Publication Date Title
US20230036722A1 (en) Multicopter
US10214876B2 (en) Work machine
EP3648315B1 (en) Working machine
US20150314830A1 (en) Electric vehicle
US9267431B2 (en) Position regulating apparatus for engine operating machine
US10184227B2 (en) Work machine
CN111918815B (zh) 跨骑型电动车辆
CN107791276B (zh) 机器人
US20250034843A1 (en) Electric Work Machine
US20230030399A1 (en) Multicopter and method for driving same
WO2024142196A1 (ja) 飛行装置
WO2024142206A1 (ja) 飛行装置
WO2024142207A1 (ja) 飛行装置
WO2024142197A1 (ja) 飛行装置
WO2024142201A1 (ja) 飛行装置
WO2024142200A1 (ja) 飛行装置
WO2024142199A1 (ja) 飛行装置
WO2024142205A1 (ja) 飛行装置
WO2024142202A1 (ja) 飛行装置
WO2024142210A1 (ja) 飛行装置
WO2024142198A1 (ja) 飛行装置
WO2024142203A1 (ja) 飛行装置
WO2024142204A1 (ja) 飛行装置
WO2024142208A1 (ja) エンジン及び飛行装置
WO2024142209A1 (ja) 飛行装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22969990

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2024566981

Country of ref document: JP

NENP Non-entry into the national phase

Ref country code: DE