WO2024142201A1 - 飛行装置 - Google Patents

飛行装置 Download PDF

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Publication number
WO2024142201A1
WO2024142201A1 PCT/JP2022/048086 JP2022048086W WO2024142201A1 WO 2024142201 A1 WO2024142201 A1 WO 2024142201A1 JP 2022048086 W JP2022048086 W JP 2022048086W WO 2024142201 A1 WO2024142201 A1 WO 2024142201A1
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WO
WIPO (PCT)
Prior art keywords
frame
rotor
engine
arm
main body
Prior art date
Application number
PCT/JP2022/048086
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
優人 畑中
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 JP2024566986A priority Critical patent/JPWO2024142201A1/ja
Priority to PCT/JP2022/048086 priority patent/WO2024142201A1/ja
Publication of WO2024142201A1 publication Critical patent/WO2024142201A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • B64U20/75—Constructional aspects of the UAV body the body formed by joined shells or by a shell overlaying a chassis

Definitions

  • the present invention was made in consideration of the above problems, and aims to provide a flying device whose main body shape can be easily changed depending on the type and size of the equipment to be mounted on the main body.
  • a flying device comprises a main body, an arm extending from the main body, and a rotor attached to the arm, and the main body is composed of a number of straight frame members and joints connecting the frame members together.
  • the arm may have a straight rod, and the straight rod may be configured to be connected to the frame material by a joint.
  • the arm may have a plurality of the rods arranged in a horizontal line, and each of the rods may be connected to the frame material by the joint.
  • the main body may have a protruding frame that protrudes from the frame body and to which a rotor separate from the rotor attached to the arm is attached, the protruding frame being made up of multiple straight frame members, and the frame members of the protruding frame may be connected to the frame members that make up the frame body by joints.
  • the frame material may be made of a cylindrical pipe.
  • FIG. 1 is a plan view of a flying device according to a first embodiment of the present invention.
  • 1 is a perspective view of a flying device according to a first embodiment of the present invention.
  • 1 is a front view of a flying device according to a first embodiment of the present invention.
  • FIG. 2 is a rear view of the flying device according to the first embodiment of the present invention.
  • FIG. 1 is a left side view of a flying device according to a first embodiment of the present invention.
  • FIG. 2 is a right side view of the flying device according to the first embodiment of the present invention.
  • FIG. 2 is a plan view of the flight device according to the first embodiment, showing the rotation trajectories of a main rotor and a sub-rotor, etc.
  • 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 legs 11 extend in a direction away from the frame body 8 and overlap with the arms 7 in a plan view.
  • the first leg 11A extends in a direction overlapping with the first arm 7A in a plan view.
  • the second leg 11B extends in a direction overlapping with the second arm 7B in a plan view.
  • the third leg 11C extends in a direction overlapping with the third arm 7C in a plan view.
  • the fourth leg 11D extends in a direction overlapping with the fourth arm 7D in a plan view.
  • a plurality of sub-rotors 3B are arranged at equal distances from the center of the aircraft body 2 in a plan view.
  • the number of sub-rotors 3B is four, but it may be two, three, five or more.
  • the four sub-rotors 3B are referred to as the first sub-rotor 3B1, the second sub-rotor 3B2, the third sub-rotor 3B3, and the fourth sub-rotor 3B4, respectively.
  • the first sub-rotor 3B1 is attached to the first arm 7A.
  • the second sub-rotor 3B2 is attached to the second arm 7B.
  • the third sub-rotor 3B3 is attached to the third arm 7C.
  • the fourth sub-rotor 3B4 is attached to the fourth arm 7D.
  • the machine body 2 has a pivot part 21 that supports the arm 7 so that it can rotate relative to the main body part 6.
  • the pivot part 21 has a pivot shaft 22 and a retaining tube 23.
  • the pivot shaft 22 is a cylindrical shaft that serves as a fulcrum for the rotation of the arm 7 and extends in the horizontal direction.
  • the pivot shaft 22 extends perpendicular to the longitudinal direction of the arm 7.
  • the pivot portion 21 is provided with a switching mechanism 25 that can switch between a first state in which the arm 7 is permitted to rotate relative to the main body portion 6 and a second state in which the arm 7 is not permitted to rotate relative to the main body portion 6.
  • the pivot shaft 22 is inserted through the first support portion 24A, the second support portion 24B, the retaining tube 23, the first spacer 28A, and the second spacer 28B.
  • the pivot shaft 22 passes through the second support portion 24B, the second spacer 28B, the retaining tube 23, the first support portion 24A, and the first spacer 28A in that order.
  • One end of the pivot shaft 22 is provided with a head portion 22a that can be held with a tool.
  • the other end of the pivot shaft 22 is provided with a threaded portion 22b.
  • the flying device 1 is equipped with electrical equipment 35 used to drive the sub-rotor 3B.
  • the electrical equipment 35 is an inverter that controls the power supplied to the motor 5.
  • the electrical equipment 35 is also referred to as the inverter 35.
  • the electrical equipment (inverter) 35 is attached to the arm 7.
  • the electrical equipment (inverter) 35 is located closer to the main body 6 than the bracket 32 in the longitudinal direction of the arm 7.
  • the electrical equipment (inverter) 35 is located between the pivot part 21 and the bracket 32 in the longitudinal direction of the arm 7.
  • the first output shaft 4c extends between the front and rear frame members (the 19th frame member 119 and the 21st frame member 121 (see FIG. 15) described later) that make up the first protruding frame 9A in a plan view.
  • the second output shaft 4d extends between the front and rear frame members (the 23rd frame member 123 and the 25th frame member 125 (see FIG. 15) described later) that make up the second protruding frame 9B in a plan view.
  • the presence of the first protruding frame 9A and the second protruding frame 9B makes it difficult to approach the first output shaft 4c and the second output shaft 4d from above. Therefore, before takeoff or after landing, etc., it is safe because it is possible to effectively prevent hands, clothing, etc. from coming into contact with the rotating first output shaft 4c and the second output shaft 4d.
  • 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.
  • the flying device 1 is equipped with a pump 66.
  • the pump 66 is disposed in the lower part of the main body 6. Specifically, the pump 66 is disposed inside the frame main body 8.
  • the frame main body 8 has, from the top, an uppermost stage 8A, an upper stage 8B, a middle stage 8C, and a lower stage 8D.
  • the pump 66 is disposed in the lower stage 8D of the frame main body 8.
  • the pump 66 like the radiator 40, is attached to the lower stage frame 100F (see FIG. 15, described later) that constitutes the lower part of the lower stage 8D. In other words, both the pump 66 and the radiator 40 are attached to the lower stage frame 100F.
  • the pump 66 is attached to a mounting fixture 77 (see FIG. 21) fixed to the lower stage frame 100F.
  • 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 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.
  • 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 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 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 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 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.
  • 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.
  • 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 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 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 oil pan 4b of the engine 4 is provided on only one of the widthwise sides of the engine block 400. Therefore, a space S2 is created below the other widthwise side of the engine block 400 (the side where the oil pan 4b is not provided), and the electrical equipment 300 is arranged in this space S2. In this way, since the oil pan 4b of the engine 4 is provided only on one widthwise side of the engine block 400, space can be secured for arranging the electrical equipment 300 below the other widthwise side of the engine block 400.
  • FIG. 24 is a block diagram showing the configuration of the flight device 1.
  • the flight device 1 is equipped with a control device 55.
  • the control device 55 controls the driving of the engine 4 and the motor 5.
  • the control device 55 is disposed in the middle section 8C of the frame body 8 (see FIG. 18 and FIG. 19).
  • the control device 55 is equipped with a calculation unit such as a CPU, and a storage unit such as a RAM or ROM.
  • the driving of the engine 4 is controlled by a control signal transmitted from the control device 55.
  • the generator 56 generates electricity by being driven by the driving force of the engine 4.
  • the generator 56 includes the first generator 56A and the second generator 56B described above.
  • the electric power generated by the first generator 56A is stored in one of the first battery 46A and the second battery 46B.
  • the electric power generated by the second generator 56B is stored in the other of the first battery 46A and the second battery 46B.
  • the inverter 35 converts the power supplied from the generator 56 or the battery 46 to a predetermined frequency and supplies it to the driver of the motor 5.
  • the driver of the motor 5 uses the power supplied from the inverter 35 to control the motor 5 based on a control signal from the control device 55.
  • the lower frame 100F is composed of an eleventh frame member 111, a twelfth frame member 112, a thirteenth frame member 113, and a fourteenth frame member 114.
  • the eleventh frame member 111 extends in the front-to-rear direction below the fifth frame member 105.
  • the twelfth frame member 112 extends in the front-to-rear direction below the sixth frame member 106.
  • the thirteenth frame member 113 extends in the left-to-right direction below the ninth frame member 109.
  • the fourteenth frame member 114 extends in the left-to-right direction below the tenth frame member 110.
  • the vertical frame member 100B includes the fifteenth frame member 115 to the eighteenth frame member 118.
  • the fifteenth frame member 115 extends vertically at the left front portion of the frame main body 8.
  • the sixteenth frame member 116 extends vertically at the right front portion of the frame main body 8.
  • the seventeenth frame member 117 extends vertically at the left rear portion of the frame main body 8.
  • the eighteenth frame member 118 extends vertically at the right rear portion of 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).
  • 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 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).
  • the rotation trajectory R1 of the blade 3d of the main rotor 3A overlaps with the main body 6 in the vertical direction. More specifically, the rotation trajectory R1 of the blade 3d of the main rotor 3A overlaps with the protruding frame 9 of the main body 6 in the vertical direction. The rotation trajectory R1 does not overlap with the frame main body 8 of the main body 6 in the vertical direction. In addition, the rotation trajectory R1 of the blade 3d of the main rotor 3A overlaps with the arm 7 in the vertical direction. More specifically, the rotation trajectory R1 of the blade 3d of the main rotor 3A overlaps with the part of the arm 7 close to the base end 7a in the vertical direction.
  • 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 bracket 32 has a portion to which the electrical equipment (inverter) 35 is attached and a portion to which the first support member 31A is connected. Therefore, the parts for attaching the electrical equipment 35 and the parts for connecting the first support member 31A are integrated into a single part (bracket 32). This makes it possible to reduce the number of parts, making the flying device 1 lighter.
  • the muffler 37 is arranged sideways (with its longitudinal direction facing horizontally) so as to protrude outside the frame main body 8.
  • the muffler 37 is fixed to the frame main body 8 so as to face in the front-to-rear direction.
  • the muffler 37 is attached to the frame main body 8 by a mounting member 75.
  • the mounting member 75 is attached to the fourth horizontal frame member 100A4 (see Figure 47) of the upper frame 100C described below.
  • 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 first output shaft 4c of the engine 4 extends between the front and rear frame members constituting the first protruding frame 9A (the first protruding frame member 9A1 and the second protruding frame member 9A2 (see FIG. 47) described later) in a plan view.
  • the second output shaft 4d extends between the front and rear frame members constituting the second protruding frame 9B (the third protruding frame member 9B1 and the fourth protruding frame member 9B2 (see FIG. 47) described later) in a plan view.
  • the presence of the first protruding frame 9A and the second protruding frame 9B makes it difficult to approach the first output shaft 4c and the second output shaft 4d from above. Therefore, before takeoff or after landing, etc., it is safe because it is possible to effectively prevent hands, clothing, etc. from coming into contact with the rotating first output shaft 4c and the second output shaft 4d.
  • the second embodiment there is one radiator (cooling device) 40.
  • the one radiator 40 is disposed below one of the two main rotors 3A (the first main rotor 3A1). As shown in FIG. 51, the one radiator 40 is disposed at a position overlapping with the rotation trajectory R1 of the blades 3d of the first main rotor 3A1 in a plan view.
  • the air guide member 44 is also disposed at a position overlapping with the rotation trajectory R1 of the blades 3d of the first main rotor 3A1 in a plan view.
  • a radiator fan 49 is disposed below the radiator 40.
  • the radiator fan 49 generates a downward airflow that passes through the radiator 40. This allows the radiator 40 to be efficiently cooled by both the airflow generated by the rotation of the blades 3d of the first main rotor 3A1 and the airflow generated by the rotation of the radiator fan 49.
  • 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 first battery 46A and the second battery 46B are disposed below the engine 4.
  • the first battery 46A and the second battery 46B are disposed side by side in the left-right direction.
  • the first battery 46A, the second battery 46B, and the control device 55 are disposed side by side in the left-right direction.
  • 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 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 the first horizontal frame member 100A1 to the fourteenth horizontal frame member 100A14.
  • the horizontal frame members 100A constitute the upper frame 100C, the first middle frame 100D, the second middle frame 100E, and the 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.
  • the flying device 1 of the second embodiment is equipped with a cooling system 90 that water-cools the drive unit (engine) 4, similar to the first embodiment.
  • the cooling system 90 has a pump 66 and a cooling device (radiator) 40.
  • the pump 66 circulates cooling water between the engine 4 and the radiator 40, similar to the first embodiment.
  • the pump 66 is disposed in the lower part of the main body 6 (lower part of the frame main body 8).
  • the pump 66 is disposed below the engine 4.
  • the pump 66 is disposed below the radiator 40.
  • 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 fuel tank 50 is positioned below the pump 66.
  • the fuel tank 50 is also positioned so that it protrudes downward from the lower stage 8D.
  • the lower part of the fuel tank 50 protrudes downward from the frame main body 8. This makes it possible to extend the fuel tank 50 downward to increase its capacity.
  • the upper frame 100C is composed of a first horizontal frame member 100A1, a second horizontal frame member 100A2, a third horizontal frame member 100A3, a fourth horizontal frame member 100A4, a fifth horizontal frame member 100A5, and a sixth horizontal frame member 100A6.
  • the first horizontal frame member 100A1 extends in the front-to-rear direction on the left side of the frame main body 8.
  • the second horizontal frame member 100A2 extends in the front-to-rear direction on the right side of the frame main body 8.
  • the third horizontal frame member 100A3 extends left-right at the front of the frame body 8.
  • the fourth horizontal frame member 100A4 extends left-right at the rear of the frame body 8.
  • the third horizontal frame member 100A3 is located forward of the seventh horizontal frame member 100A7, which will be described later.
  • the fourth horizontal frame member 100A4 is located rearward of the sixth horizontal frame member 100A6, which will be described later.
  • the fifth horizontal frame member 100A5 extends in the left-right direction and connects the midpoint of the first horizontal frame member 100A1 in the fore-aft direction to the midpoint of the second horizontal frame member 100A2 in the fore-aft direction.
  • the sixth horizontal frame member 100A6 extends in the left-right direction and connects the midpoint of the first horizontal frame member 100A1 in the fore-aft direction to the midpoint of the second horizontal frame member 100A2 in the fore-aft direction behind the fifth horizontal frame member 100A5.
  • 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 ninth horizontal frame member 100A9 extends diagonally on the left side of the frame body 8, transitioning to the right as it moves from the front to the rear.
  • the tenth horizontal frame member 100A10 extends diagonally on the right side of the frame body 8, transitioning to the right as it moves from the front to the rear.
  • the ninth horizontal frame member 100A9 and the tenth horizontal frame member 100A10 are arranged parallel to each other.
  • the front end of the ninth horizontal frame member 100A9 is connected to the seventh horizontal frame member 100A7.
  • the rear end of the ninth horizontal frame member 100A9 is connected to the eighth horizontal frame member 100A8.
  • the front end of the tenth horizontal frame member 100A10 is connected to the seventh horizontal frame member 100A7.
  • the rear end of the tenth horizontal frame member 100A10 is connected to the eighth horizontal frame member 100A8.
  • the second middle frame 100E is composed of an eleventh horizontal frame member 100A11 and a twelfth horizontal frame member 100A12.
  • the eleventh horizontal frame member 100A11 extends in the front-to-rear direction below the first horizontal frame member 100A1.
  • the twelfth horizontal frame member 100A12 extends in the front-to-rear direction below the second horizontal frame member 100A2.
  • the lower frame 100F is composed of a thirteenth horizontal frame member 100A13 and a fourteenth horizontal frame member 100A14.
  • the thirteenth horizontal frame member 100A13 extends in the left-right direction below the seventh horizontal frame member 100A7.
  • the fourteenth horizontal frame member 100A14 extends in the left-right direction below the eighth frame member 108.
  • the thirteenth horizontal frame member 100A13 and the fourteenth horizontal frame member 100A14 are plate-shaped members.
  • 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.
  • the front end of the 11th horizontal frame member 100A11 is connected to the vertical midpoint of the first vertical frame member 100B1.
  • the rear end of the 11th horizontal frame member 100A11 is connected to the vertical midpoint of the third vertical frame member 100B3.
  • the front end of the 12th horizontal frame member 100A12 is connected to the vertical midpoint of the second vertical frame member 100B2.
  • the rear end of the 12th horizontal frame member 100A12 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.
  • the top frame 100G has a lower frame 100G1 and an upper frame 100G2.
  • the lower frame 100G1 is provided so as to protrude upward from the upper frame 100C.
  • the upper frame 100G2 is provided so as to protrude upward from the lower frame 100G1.
  • the top frame 100G is composed of two frames, an upper and lower one.
  • 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.
  • 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 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 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 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 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 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 flying device 1 of the embodiments (first and second embodiments) described above, the main rotor 3A is driven by the engine 4, and the sub rotor 3B is driven by the motor 5, but the main rotor 3A and the sub rotor 3B may also be driven by the motor 5.
  • the flying device 1 may have a motor 5 but no engine 4.
  • the motor 5 is driven using electricity stored in the battery 46, and the main rotor 3A and the sub rotor 3B are driven by the power supplied from the motor 5.
  • 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.
  • the cooling device (radiator) 40 may be configured to water-cool the battery 46 in addition to the engine 4.
  • the pump 66 circulates cooling water between the engine 4 and the cooling device (radiator) 40, and between the inside (or near the outside) of the battery 46 and the cooling device 40. Therefore, the pump 66, the cooling device (radiator) 40, and the engine 4, and the pump 66, the cooling device (radiator) 40, and the inside (or near the outside) of the battery 46 are each connected by piping for circulating the cooling water.
  • the flying device 1 comprises an airframe 2 and a number of rotors 3 attached to the airframe 2.
  • the rotors 3 include a main rotor 3A for generating lift to lift the airframe 2 and a sub-rotor 3B for controlling the attitude of the airframe 2.
  • the main rotor 3A is positioned closer to the center of the airframe 2 than the sub-rotor 3B in a plan view.
  • the arm 7 can be supported by the connector 31 at a position where it overlaps with the rotor 3 in the vertical direction. Therefore, the load generated on the arm 7 by the driving of the rotor 3 can be borne by the connector 31.
  • the flying device 1 can be made more compact by rotating the arm 7 to the second position, improving the convenience of storing and transporting the flying device 1.
  • 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.
  • the power supplied to the first motor 5A and the second motor 5B can be controlled separately by two inverters (first inverter 35A, second inverter 35B). This makes it possible to separately control the rotation of the first rotor 3BU and the rotation of the second rotor 3BL.
  • the flying device 1 also includes a connector 31 that connects the main body 6 to the middle of the arm 7, and the connector 31 extends between the first inverter 35A and the second inverter 35B.
  • 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.
  • the arm 7 can rotate downward from a predetermined position during flight, so the arm 7 can be folded downward to make the flying device 1 compact and easy to carry, making it highly portable.
  • 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.
  • the first section 71 also has multiple rods 12 arranged side by side in the horizontal direction.
  • 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.
  • first output shaft 4c and the second output shaft 4d extend at an angle with respect to a line L5 connecting the center of the rotor 3A1 and the center of the rotor 3A2 when viewed from above.
  • 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 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 engine 4 is positioned so that the intake port 4e faces upward.
  • 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 main body 6 is made up of multiple straight frame members 100 and joints 200 that connect the frame members 100 together, it is easy to change the shape of the main body 6 depending on the type and size of the equipment to be mounted on the main body 6. In addition, the weight of the main body 6 can be reduced. Furthermore, since the main body 6 has high breathability, it is possible to prevent the various equipment mounted on the main body 6 from overheating.
  • 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 arm 7 also has multiple rods 12 arranged in a horizontal line, and each of the multiple rods 12 is connected to the frame material 100 by a joint 200.
  • This configuration improves the strength of the arm 7 against horizontal forces and increases the connection strength between the arm 7 and the main body 6.
  • the flying device 1 is equipped with an engine 4 that supplies driving force to the rotor 3, and the main body 6 has a frame body 8 on which the engine 4 is mounted, and the frame body 8 is configured by combining multiple straight frame members 100 into a three-dimensional shape with joints 200.
  • 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.
  • the arm 7 also has a straight rod 12, which is connected to the frame material 100 that constitutes the protruding frame 9 by a joint 200.
  • This configuration allows the rod 12 of the arm 7 and the protruding frame 9 to be easily and reliably connected via the joint 200.
  • 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.
  • the joint 200 has multiple connection ports 200a, and the ends of the frame material 100 are inserted into the connection ports 200a.
  • D the inner diameter of the connection port 200a
  • L the insertion length of the frame material 100 into the connection port 200a
  • the frame material 100 is also made up of a cylindrical pipe 170.
  • 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 also made of a magnesium alloy.
  • 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 downward airflow generated by the drive of the rotor (main rotor 3A) can be directed at the cooling device 40. This allows the cooling device 40 to be cooled efficiently.
  • 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 drive of the rotor 3 can be directed toward the radiator 40. This allows the radiator 40 to be cooled efficiently.
  • the cooling device 40 is also positioned so that it overlaps with the rotation trajectory R1 of the blade 3d in a plan view.
  • 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.
  • This configuration allows the downward airflow to be smoothly guided along the space surrounded by the first plate 44a, the second plate 44b, and the third plate 44c of the air guide member 44.
  • the engine 4 also has an engine body 4a and an oil pan 4b located below the engine body 4a, and the batteries 46 are disposed on one side and the other side of the oil pan 4b.
  • 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 drive unit 4 also includes an engine 4, and the cooling device 40 cools the coolant supplied to the engine 4.
  • 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.
  • 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 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 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.
  • the flying device 1 comprises a main body 6, an arm 7 extending from the main body, a rotor 3 attached to the arm 7, and an engine 4 that supplies driving force to the rotor 3, and the engine 4 is an engine in which the above-mentioned oil pan 4b is provided on only one of the two widthwise sides of the engine block 400.
  • 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.

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  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
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PCT/JP2022/048086 2022-12-27 2022-12-27 飛行装置 WO2024142201A1 (ja)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107472536A (zh) * 2017-07-24 2017-12-15 西北工业大学 一种高空消防灭火无人机
CN109305322A (zh) * 2018-12-01 2019-02-05 佛山市南海雅事达模型有限公司 一种笼架式可折叠多旋翼重载大型无人机
CN211969736U (zh) * 2020-02-24 2020-11-20 北京京东乾石科技有限公司 多旋翼飞行器的机体及多旋翼飞行器
CN213083472U (zh) * 2020-06-05 2021-04-30 南方科技大学 多旋翼无人机机架和具有其的多旋翼无人机
WO2022137392A1 (ja) * 2020-12-23 2022-06-30 ヤマハ発動機株式会社 飛行体
WO2022172315A1 (ja) * 2021-02-09 2022-08-18 カワサキモータース株式会社 動力装置および移動用推進装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107472536A (zh) * 2017-07-24 2017-12-15 西北工业大学 一种高空消防灭火无人机
CN109305322A (zh) * 2018-12-01 2019-02-05 佛山市南海雅事达模型有限公司 一种笼架式可折叠多旋翼重载大型无人机
CN211969736U (zh) * 2020-02-24 2020-11-20 北京京东乾石科技有限公司 多旋翼飞行器的机体及多旋翼飞行器
CN213083472U (zh) * 2020-06-05 2021-04-30 南方科技大学 多旋翼无人机机架和具有其的多旋翼无人机
WO2022137392A1 (ja) * 2020-12-23 2022-06-30 ヤマハ発動機株式会社 飛行体
WO2022172315A1 (ja) * 2021-02-09 2022-08-18 カワサキモータース株式会社 動力装置および移動用推進装置

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