WO2024142205A1 - 飛行装置 - Google Patents

飛行装置 Download PDF

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Publication number
WO2024142205A1
WO2024142205A1 PCT/JP2022/048090 JP2022048090W WO2024142205A1 WO 2024142205 A1 WO2024142205 A1 WO 2024142205A1 JP 2022048090 W JP2022048090 W JP 2022048090W WO 2024142205 A1 WO2024142205 A1 WO 2024142205A1
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WO
WIPO (PCT)
Prior art keywords
frame
rotor
engine
frame member
arm
Prior art date
Application number
PCT/JP2022/048090
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 PCT/JP2022/048090 priority Critical patent/WO2024142205A1/ja
Priority to JP2024566990A priority patent/JPWO2024142205A1/ja
Publication of WO2024142205A1 publication Critical patent/WO2024142205A1/ja

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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 present invention relates to flying devices such as multicopters.
  • a flying device disclosed in the following Patent Document 1 is known in the prior art.
  • the flying device disclosed in Patent Document 1 comprises a main body, arm members extending radially outward from the main body, and a number of rotors (rotating wings) attached to the arm members.
  • the multiple rotors are all attached to arms of the same thickness. Therefore, when the multiple rotors are configured with a main rotor and a sub-rotor, it is difficult to make the support strength of the main rotor, which has a greater thrust, greater than the support strength of the sub-rotor.
  • a flying device comprises an airframe and a plurality of rotors attached to the airframe, the plurality of rotors including a main rotor and a sub-rotor, the airframe has a first support part to which the main rotor is attached at its tip and a second support part to which the sub-rotor is attached at its tip, and the width of the base end of the first support part is greater than the width of the base end of the second support part.
  • the base ends of multiple second support parts may be connected to one first support part.
  • the aircraft may have a main body and an arm extending from the main body, the main body having a frame main body on which a drive unit for driving the main rotor is mounted, and a protruding frame protruding from the frame main body and on which the main rotor is attached, the first support part being the protruding frame and the second support part being the arm.
  • the main rotor may be configured to rotate by driving force supplied from an engine.
  • the sub-rotor may be configured to rotate by a driving force supplied from a motor.
  • FIG. 2 is a diagram showing the flying device according to the first embodiment with the arm rotated downward.
  • FIG. 2 is a diagram showing the arms, sub-rotor, etc. of the flying device according to the first embodiment as viewed from above.
  • FIG. 2 is a diagram showing the arms, sub-rotor, etc. of the flying device according to the first embodiment as viewed from a horizontal direction.
  • FIG. 2 is a perspective view showing a pivot part and the like of the flying device according to the first embodiment.
  • 2 is a diagram showing a state in which a first section and a second section of an arm are separated in the flying device according to the first embodiment.
  • FIG. FIG. 2 is an exploded perspective view showing a switching mechanism and the like of the flying device according to the first embodiment.
  • 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.
  • FIG. 2 is a bottom view showing the fuel tank, casing, skids, etc. of the flight device according to the first embodiment.
  • FIG. 2 is a perspective view showing a support structure for an engine of the flying device according to the first embodiment.
  • FIG. 2 is a side view showing a support structure for an engine of the flying device according to the first embodiment.
  • 1 is a block diagram showing the configuration of a flying device according to the present invention (first and second embodiments).
  • FIG. FIG. 2 is a plan sectional view showing the internal structure of an engine of a flying device according to the present invention (first and second embodiments).
  • FIG. 2 is a front view showing the cooling system of the flying device according to the first embodiment.
  • FIG. 2 is a perspective view showing a cooling system for the flying device according to the first embodiment.
  • FIG. 2 is a plan view showing the positional relationship between a fuel tank and a cooling system of the flight device according to the first embodiment.
  • FIG. 2 is a perspective view of the engine as seen from the left front.
  • FIG. 2 is a perspective view of the engine as seen from the right rear.
  • FIG. 2 is a side view of the engine as seen from the right.
  • FIG. FIG. 2 is a longitudinal cross-sectional view of the engine cut vertically at the intake passage (the upper part is omitted).
  • FIG. 2 is a longitudinal cross-sectional view of the engine cut vertically at the exhaust passage (the upper part is omitted).
  • FIG. 2 is a view of the engine from below and front.
  • a nut 27 is screwed onto the threaded portion 22b.
  • the nut 27 is screwed onto the threaded portion 22b protruding from the second support portion 24B.
  • the retaining tube 23 and the support portion 24 are connected via the pivot shaft 22.
  • the retaining tube 23 is also able to rotate around the axis of the pivot shaft 22. This allows the second part 72 of the arm 7 to rotate relative to the first part 71.
  • the flange part 28d is pressed tightly against the end face of the retaining tube 23 with strong force, preventing the retaining tube 23 from rotating and disallowing the second part 72 of the arm 7 from rotating.
  • the engine 4 has a first output shaft 4c and a second output shaft 4d.
  • an opposed piston engine can be used as this type of engine 4.
  • An opposed piston engine has two pistons arranged facing each other inside one cylinder, and has the advantage that vibrations are reduced by the symmetrical reciprocating motion of the two pistons.
  • the engine 4 is not limited to an opposed piston engine.
  • 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 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.
  • 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.
  • the oil pan 4b is integrated with the first block 400A of the engine block 400.
  • the oil pan 4b is made of the same material (single material) as the first block 400A.
  • the oil pan 4b is only located below the first block 400A.
  • 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 is provided on the upper part of the inner wall surface 4b2 of the oil pan 4b.
  • the upper surface of the protruding plate 4b3 is provided at a lower height (slightly lower height) than the lower end of the inner bottom surface 402 of the inclined portion 401.
  • the oil flowing along the inner bottom surface 402 of the inclined portion 401 flows down to the upper surface of the protruding plate 4b3 once, and then flows down from the protruding plate 4b3 toward the inner bottom surface 4b1 of the oil pan 4b.
  • the oil flowing down along the inclined portion 401 toward the oil pan 4b can be dispersed in the depth direction of the engine block 400 before flowing down.
  • the width W1 (see FIG. 35) of the inclined portion 401 is smaller than the overall width of the engine block 400.
  • the width W1 of the inclined portion 401 is smaller than the overall width of the oil pan 4b.
  • the inclined portion 401 is formed with a U-shaped cross section. As a result, the inner bottom surface 402 of the inclined portion 401 is located lower than the inner bottom surface of the portion of the second block 400B where the inclined portion 401 is not provided.
  • the inclined portion 401 in a narrow U-shaped cross section, the oil that has accumulated inside the inclined portion 401 can be made to flow quickly and reliably toward the oil pan 4b. Also, compared to when the inclined portion 401 is provided across the entire width of the engine block 400 in the depth direction, it is possible to make the engine block 400 more compact.
  • the battery 46 overlaps with the oil pan 4b in the vertical direction.
  • the height of the bottom end of the oil pan 4b is lower than the height of the top end of the battery 46 and higher than the height of the bottom end of the battery 46.
  • the main body 6 of the flying device 1 is equipped with electrical equipment 300 in addition to the electrical equipment 35 described above.
  • the electrical equipment 300 is a battery controller that controls the battery 46.
  • the battery controller controls the current and voltage when charging the battery 46.
  • the electrical equipment 300 is not limited to a battery controller.
  • the electrical equipment 300 may be a control device that controls the drive of the engine 4 or a control device that controls the drive of the motor 5. It may also be an electrical device other than a control device.
  • 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 positioned offset horizontally (rearward) from the vertical central axis CT1 of the main body 6 on which the engine 4 is mounted.
  • the engine 4 is positioned such that the vertical central axis CT2 of the oil pan 4b is eccentric to the vertical central axis CT1 of the main body 6.
  • 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.
  • the motors 5 are provided corresponding to each of the multiple sub-rotors 3B.
  • one motor 5 is provided corresponding to one sub-rotor 3B.
  • motors 5 (first motor 5A and second motor 5B) are provided corresponding to the two rotors (upper rotor 3BU and lower rotor 3BL) constituting the first sub-rotor 3B1.
  • Motors 5 (first motor 5A and second motor 5B) are provided corresponding to the two rotors (upper rotor 3BU and lower rotor 3BL) constituting the second sub-rotor 3B2.
  • 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 control device 55 may also be configured to be able to change the rotation direction of the first motor 5A and the rotation direction of the second motor 5B individually. By changing the rotation direction of the first motor 5A and the rotation direction of the second motor 5B individually, the rotation directions of the first rotor (upper rotor) 3BU and the second rotor (lower rotor) 3BL can be made the same or different.
  • the main body 6 is composed of multiple straight frame members 100 and joints 200 that connect the frame members 100 together.
  • the frame members 100 include a first frame member 101 to a 26th frame member 126.
  • the joints 200 include a first joint 201 to a 26th joint 226.
  • first frame member 101 is labeled with the reference number 100
  • first joint 201 is labeled with the reference number 200.
  • the frame body 8 of the main body 6 is constructed by combining multiple straight frame materials 100 into a three-dimensional shape (rectangular parallelepiped shape) with joints 200.
  • the frame materials 100 are constructed from cylindrical pipes. This allows the frame materials 100 to be lightweight while still maintaining their strength, making it possible to construct a frame body 8 that is both strong and lightweight.
  • the frame material 100 can be made of, for example, metal or resin.
  • the frame material 100 can be made of, for example, an aluminum alloy or a titanium alloy.
  • the frame material 100 is made of a magnesium alloy. This makes it possible to increase the strength of the frame material 100 while reducing its weight.
  • 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.
  • the upper stage 8B of the frame main body 8 is formed between the upper frame 100C and the first middle frame 100D.
  • the engine 4 and other components are arranged in the upper stage 8B.
  • the middle stage 8C of the frame main body 8 is formed between the first middle frame 100D and the second middle frame 100E.
  • the battery 46, control device 55, and other components are arranged in the middle stage 8C.
  • the lower stage 8D of the frame main body 8 is formed between the second middle frame 100E and the lower frame 100F.
  • the fuel tank 50 and other components are arranged in the lower stage 8D.
  • the engine 4 has an engine body 4a disposed on the upper stage 8B.
  • the oil pan 4b of the engine 4 disposed on the middle stage 8C.
  • the engine 4 is disposed from the upper stage 8B to the middle stage 8C.
  • the pump 66 is disposed on the lower stage 8D. More specifically, the upper part of the pump 66 is disposed on the lower stage 8D, and the lower part of the pump 66 is disposed below the lower stage 8D.
  • the radiator 40 is positioned at a height corresponding to the lower level 8D (see Figures 18 and 19). However, the radiator 40 is positioned outside the frame body 8, not inside it.
  • the sub-tank (reserve tank) 65 for the radiator 40 is positioned in the upper level 8B of the frame body 8 (see Figures 18 and 19).
  • the protruding frames 9 are provided at a height corresponding to the upper stage 8B.
  • the arms 7 are provided at a height corresponding to the upper stage 8B.
  • the components supporting the rotor 3 main rotor 3A, sub rotor 3B are provided at a height corresponding to the upper stage 8B.
  • 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 first frame material 101 and the third frame material 103 are connected by a first joint 201.
  • the first frame material 101 and the fourth frame material 104 are connected by a second joint 202.
  • the second frame material 102 and the third frame material 103 are connected by a third joint 203.
  • the second frame material 102 and the fourth frame material 104 are connected by a fourth joint 204.
  • the first joint 201 is located at the base end (base end 9b) in the protruding direction of the first protruding frame 9A and at one base end 7a of the first arm 7A shown in FIG. 1.
  • the second joint 202 is located at the base end (base end 9b) in the protruding direction of the first protruding frame 9A and at one base end 7a of the third arm 7C.
  • the third joint 203 is located at the base end (base end 9b) in the protruding direction of the second protruding frame 9B and at one base end 7a of the second arm 7B shown in FIG. 1.
  • the fourth joint 204 is located at the base end (base end 9b) in the protruding direction of the second protruding frame 9B and at one base end 7a of the fourth arm 7D.
  • the first middle frame 100D is composed of a fifth frame member 105, a sixth frame member 106, a seventh frame member 107, and an eighth frame member 108.
  • the fifth frame member 105 extends in the front-to-rear direction below the first frame member 101.
  • the sixth frame member 106 extends in the front-to-rear direction below the second frame member 102.
  • the seventh frame member 107 extends diagonally from the front of the frame main body 8, moving rearward as it moves from the left to the right.
  • the eighth frame member 108 extends diagonally from the rear of the frame main body 8, moving rearward as it moves from the left to the right.
  • the seventh frame member 107 and the eighth frame member 108 are arranged parallel to each other.
  • the left end of the seventh frame member 107 is connected to the fifth frame member 105 by the fifth joint 205.
  • the right end of the seventh frame member 107 is connected to the sixth frame member 106 by the sixth joint 206.
  • the left end of the eighth frame member 108 is connected to the fifth frame member 105 by the seventh joint 207.
  • the right end of the eighth frame member 108 is connected to the sixth frame member 106 by the eighth joint 208.
  • the second middle frame 100E is composed of a ninth frame member 109 and a tenth frame member 110.
  • the ninth frame member 109 extends in the left-right direction below the third frame member 103.
  • the tenth frame member 110 extends in the left-right direction below the fourth frame member 104.
  • 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 upper end of the 15th frame member 115 is connected to the first frame member 101 and the third frame member 103 by the first joint 201.
  • the lower end of the 15th frame member 115 is connected to the 11th frame member 111 and the 13th frame member 113 by the 13th joint 213.
  • the upper end of the 16th frame member 116 is connected to the second frame member 102 and the third frame member 103 by the third joint 203.
  • the lower end of the 16th frame member 116 is connected to the 12th frame member 112 and the 13th frame member 113 by the 14th joint 214.
  • the upper end of the 17th frame member 117 is connected to the first frame member 101 and the fourth frame member 104 by the second joint 202.
  • the lower end of the 17th frame member 117 is connected to the 11th frame member 111 and the 14th frame member 114 by the 15th joint 215.
  • the upper end of the 18th frame member 118 is connected to the second frame member 102 and the fourth frame member 104 by the fourth joint 204.
  • the lower end of the 18th frame member 118 is connected to the 12th frame member 112 and the 14th frame member 114 by the 16th joint 216.
  • 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 left end of the ninth frame member 109 is connected to the vertical midpoint of the fifteenth frame member 115 by the ninth joint 209.
  • the right end of the ninth frame member 109 is connected to the vertical midpoint of the sixteenth frame member 116 by the tenth joint 210.
  • the left end of the tenth frame member 110 is connected to the vertical midpoint of the seventeenth frame member 117 by the eleventh joint 211.
  • the right end of the tenth frame member 110 is connected to the vertical midpoint of the eighteenth frame member 118 by the twelfth joint 212.
  • the front end of the fifth frame member 105 is connected to the middle part of the fifteenth frame member 115 in the vertical direction by the fifth joint 205.
  • the rear end of the fifth frame member 105 is connected to the middle part of the seventeenth frame member 117 in the vertical direction by the eighteenth joint 218.
  • the front end of the sixth frame member 106 is connected to the middle part of the sixteenth frame member 116 in the vertical direction by the seventeenth joint 217.
  • the rear end of the sixth frame member 106 is connected to the middle part of the eighteenth frame member 118 in the vertical direction by the eighth joint 208.
  • the left end of the seventh frame member 107 is connected to the middle part of the fifteenth frame member 115 in the vertical direction by the fifth joint 205.
  • the right end of the eighth frame member 108 is connected to the middle part of the eighteenth frame member 118 in the vertical direction by the eighth joint 208.
  • the base end of the second support member 31B that supports the second arm 7B is also connected to the 17th joint 217.
  • the second support member 31B that supports the second arm 7B is connected to the frame body 8 via the 17th joint 217.
  • the base end of the second support member 31B that supports the third arm 7C is also connected to the 18th joint 218.
  • the second support member 31B that supports the third arm 7C is connected to the frame body 8 via the 18th joint 218.
  • 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 left end of the first erection member 141 and the left end of the second erection member 142 are connected by a first connecting member 143.
  • the first connecting member 143 is attached to the first frame member 101.
  • the right end of the first erection member 141 and the right end of the second erection member 142 are connected by a second connecting member 144.
  • the second connecting member 144 is attached to the second frame member 102.
  • the top frame 100G is attached to the top of the frame main body 8.
  • the top stage 8A of the frame main body 8, on which the positioning device 47 is arranged, is formed on the top of the top frame 100G.
  • 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 first protruding frame 9A includes the 19th frame member 119 to the 22nd frame member 122.
  • the 19th frame member 119 is connected to the first joint 201 and extends from the first joint 201 toward the left rear.
  • the 20th frame member 120 is connected to the fifth joint 205 and extends from the fifth joint 205 toward the left rear.
  • the 19th frame member 119 and the 20th frame member 120 are arranged side by side with a gap in the vertical direction.
  • the 19th frame member 119 extends horizontally.
  • the 20th frame member 120 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 19th frame member 119 and the 20th frame member 120 becomes smaller as it moves away from the frame main body 8.
  • 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 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 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 specific configuration of the flying device 1 of the second embodiment will be explained below, focusing on the differences from the first embodiment, while also mentioning the points in common with the first embodiment.
  • the two rods 12 that make up the arm 7 approach each other as they move away from the main body 6.
  • the distance between the two rods 12 narrows from the base end 7a to the tip end 7b of the arm 7.
  • the tips of the two rods 12 are connected to each other.
  • the sub-rotor 3B and motor 5 are attached to the part where the tips of the two rods 12 are connected to each other.
  • the pivot support 24 is attached to the main body 6 (protruding frame 9).
  • the arm 7 rotates relative to the main body 6 as the retaining tube 23 rotates around the axis of the pivot shaft 22 (see arrow Y2 in Figure 48).
  • the retaining tube 23 and the pivot shaft 22 form the pivot part 21 that supports the arm 7 rotatably relative to the main body 6.
  • 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 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 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 upper stage 8B of the frame main body 8 is formed between the upper frame 100C and the first middle frame 100D.
  • the engine 4 and other components are arranged in the upper stage 8B.
  • the middle stage 8C of the frame main body 8 is formed between the first middle frame 100D and the second middle frame 100E.
  • the battery 46, control device 55, and other components are arranged in the middle stage 8C.
  • the lower stage 8D of the frame main body 8 is formed between the second middle frame 100E and the lower frame 100F.
  • the fuel tank 50, pump 66, and other components are arranged in the lower stage 8D.
  • 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 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 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 vertical frame members 100B include a first vertical frame member 100B1 to a fourth vertical frame member 100B4.
  • the first vertical frame member 100B1 extends vertically at the left front portion of the frame body 8.
  • the second vertical frame member 100B2 extends vertically at the right front portion of the frame body 8.
  • the third vertical frame member 100B3 extends vertically at the left rear portion of the frame body 8.
  • the fourth vertical frame member 100B4 extends vertically at the right rear portion of the frame body 8.
  • 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.
  • 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 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.
  • 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 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 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 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 main rotor 3A which generates lift to lift the aircraft 2 is positioned closer to the center of the aircraft 2 in a plan view than the sub-rotor 3B, which controls the attitude of the aircraft 2.
  • 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.
  • the main rotor 3A is positioned inward relative to the multiple sub-rotors 3B, so in a flying device 1 equipped with multiple sub-rotors 3B, the lift generated by the main rotor 3A can be efficiently applied to the aircraft 2.
  • 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 downward airflow (downwash) generated by the main rotor 3A can pass between adjacent arms 7, efficiently generating the lift required for lifting the aircraft 2.
  • 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 downward airflow generated by the rotation of the blades 3d of the main rotor 3A to be efficiently guided downward.
  • first rotor 3BU has a first rotating shaft 3e and a first blade 3f attached to the first rotating shaft 3e
  • the second rotor 3BL has a second rotating shaft 3g and a second blade 3h attached to the second rotating shaft 3g, with the first blade 3f attached to the upper part of the first rotating shaft 3e and the second blade 3h attached to the lower part of the second rotating shaft 3g.
  • 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.
  • This configuration allows the rotation speeds of the first rotor 3BU and the second rotor 3BL to be changed individually, making it possible to perform good and precise attitude control of the aircraft 2.
  • the main rotor 3A has a rotating shaft 3c and a blade 3d attached to the rotating shaft 3c
  • the sub-rotor 3B has rotating shafts 3e and 3g and blades 3f and 3h attached to the rotating shafts 3e and 3g
  • the thrust per rotation of the blade 3d of the main rotor 3A is greater than the thrust per rotation of the blades 3f and 3h of the sub-rotor 3B.
  • This configuration makes it possible to obtain an optimal thrust with a good balance between the main rotor 3A, which requires a large thrust to lift the aircraft 2, and the sub-rotor 3B, which does not require a large thrust to lift the aircraft 2.
  • first rotor 3BU is positioned above the main rotor 3A
  • second rotor 3BL is positioned below the first rotor 3BU and above the main rotor 3A.
  • 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.
  • the main rotor 3A and the sub-rotor 3B can be positioned close to each other in the vertical direction, making it possible to position the rotor 3 compactly in the vertical direction.
  • first rotor 3BU is positioned above the arm 7
  • second rotor 3BL is positioned below the arm 7.
  • the flying device 1 comprises an aircraft body 2 and a plurality of rotors 3 attached to the aircraft body 2, the aircraft body 2 having a main body portion 6 and an arm 7 extending from the main body portion 6, and the plurality of rotors 3 include a main rotor 3A attached to the main body portion 6 and a sub-rotor 3B attached to the arm 7.
  • the multiple rotors 3 include a main rotor 3A attached to the main body 6 and a sub-rotor 3B attached to the arm 7, so that the main rotor 3A and the sub-rotor 3B can effectively perform their different functions.
  • the rotation of the main rotor 3A can effectively lift the main body 6, and the rotation of the sub-rotor 3B can effectively change the attitude of the aircraft 2.
  • the main body 6 also has a frame main body 8 on which a drive unit that drives the main rotor 3A is mounted, and a protruding frame 9 that protrudes away from the frame main body 8 in a plan view, and the main rotor 3A is attached to the protruding frame 9.
  • the main rotor 3A is attached to a protruding frame 9 that protrudes from the main body 6, so the lift generated by the rotation of the main rotor 3A is less likely to be affected by the main body 6.
  • the protruding frame 9 also has a corner 9a at the tip in the protruding direction, and the main rotor 3A is attached to the corner 9a.
  • This configuration makes it possible to reduce the effect of the protruding frame 9 on the lift force generated by the rotation of the main rotor 3A.
  • 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, and the main rotor 3A is attached to the corners 9a formed by the multiple frame members 100.
  • the main rotor 3A is attached to the corners 9a formed by the multiple frame members 100, so the downward airflow generated by the main rotor 3A can pass between the multiple frame members 100. This makes it possible to make the lift generated by the rotation of the main rotor 3A less susceptible to the influence of the protruding frame 9.
  • multiple arms 7 extend radially from the main body 6 when viewed in a plan view, and the corners 9a of the protruding frame 9 are located between adjacent arms 7.
  • This configuration makes it possible to reduce the effect of the arm 7 on the lift force generated by the rotation of the main rotor 3A.
  • the downward airflow generated by the rotation of the blades 3d of the main rotor 3A can be directed at a part of the main body 6 and used to cool the equipment mounted on the main body 6.
  • the rotation trajectory R1 of the blade 3d of the main rotor 3A overlaps with the main body 6 and the arm 7 in the vertical direction.
  • This configuration allows the lift force generated by the rotation of the blades 3d of the main rotor 3A to be applied to the main body 6 and the arm 7 in a well-balanced manner.
  • 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, the arm 7 having a number of rods 12 extending side by side, and the rotor 3 being supported by the number of rods 12.
  • This configuration improves the rigidity of the arm 7, preventing the arm 7 from deforming even when a load is applied to the arm 7.
  • air currents can pass between the rods 12 arranged side by side, reducing the air resistance experienced by the arm 7 during flight.
  • multiple rods 12 are arranged side by side in the horizontal direction.
  • This configuration improves the strength of the arm 7 against forces acting in the horizontal direction.
  • the arm 7 has a base end 7a attached to the main body 6 and a rotor 3 attached to a tip end 7b, and the spacing between the multiple rods 12 narrows from the base end 7a to the tip end 7b.
  • 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 flying device 1 also includes a connector 31 that connects the main body 6 and the arm 7, and the connector 31 extends diagonally upward from the main body 6 and is connected to the middle of the arm 7.
  • the middle part of the arm 7 is connected to the main body 6 by the connector 31, so the arm 7 is supported from below by the connector 31. This improves the strength of the arm 7 against forces applied from above.
  • the connector 31 has a first end 31a connected to the main body 6 and a second end 31b connected to the middle of the arm 7.
  • the second end 31b and the arm 7 are connected via a bracket 32, and the bracket 32 is positioned so as to overlap the rotor 3 in the vertical direction.
  • 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 connector 31 also extends between multiple rods 12 when viewed in a plan view.
  • the arm 7 can be supported by the connector 31 at a position between multiple rods 12.
  • the arm 7 can rotate between a first position in which it extends horizontally and a second position in which it extends upward or downward.
  • 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 includes a main body 6, an arm 7 extending from the main body 6, a rotor 3 attached to the arm 7, and electrical equipment 35 used to drive the rotor 3, the electrical equipment 35 being attached to the arm 7.
  • the electrical equipment 35 used to drive the rotor 3 is attached to the arm 7, making it possible to reduce the size and weight of the main body 6.
  • the wiring connecting the electrical equipment 35 and the motor 5 can be shortened.
  • 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 rotor 3 includes a first rotor 3BU and a second rotor 3BL arranged in a vertically overlapping position
  • the motor 5 includes a first motor 5A that supplies driving force to the first rotor 3BU and a second motor 5B that supplies driving force to the second rotor 3BL
  • the inverter 35 includes a first inverter 35A that controls the power supplied to the first motor 5A and a second inverter 35B that controls the power supplied to the second motor 5B.
  • 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 rotor (sub-rotor 3B) has rotating shafts 3e and 3g and blades 3f and 3h attached to the rotating shafts 3e and 3g, and the blades 3f and 3h are positioned so that they overlap the electrical equipment 35 in the vertical direction.
  • 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 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 connector 31 can support the arm 7 at a position between the first inverter 35A and the second inverter 35B, so the arm 7 to which the inverter 35 is attached can be stably supported.
  • the connector 31 has a first end 31a connected to the main body 6 and a second end 31b connected to the middle of the arm 7, the second end 31b and the arm 7 are connected via a bracket 32, and the electrical equipment 35 is positioned so as to overlap the bracket 32 in the longitudinal direction of the arm 7.
  • the electrical equipment 35 is placed near the part that connects the arm 7 and the connector 31, so the electrical equipment 35 can be placed in the part of the arm 7 where the strength is increased by the connection of the connector 31.
  • the connector 31 has a first end 31a connected to the main body 6 and a second end 31b connected to the middle of the arm 7, and the second end 31b and the arm 7 are connected via a bracket 32, and the electrical equipment 35 is located closer to the main body 6 than the bracket 32 in the longitudinal direction of the arm 7.
  • the electrical equipment 35 is disposed between the second end 31b of the connector 31 and the main body 6, so that the electrical equipment 35 can be attached to the portion where the arm 7 is supported at both ends.
  • the rotor also has rotating shafts 3e and 3g and blades 3f and 3h attached to the rotating shafts 3e and 3g, and the blades 3f and 3h are positioned so that they overlap in the vertical direction with the bracket 32.
  • the airflow generated by the rotation of the blades 3f, 3h can be directed at the bracket 32, so by attaching the electrical equipment 35 at a position overlapping the bracket 32, the electrical equipment 35 can be cooled together with the bracket 32.
  • the arm 7 is attached to the main body 6 so that it can rotate upward or downward, and the electrical equipment 35 is located on the tip side of the arm 7 relative to the fulcrum of rotation.
  • 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 flying device 1 comprises a main body 6, an arm 7 that extends away from the main body 6 in a plan view, and a rotor 3 attached to the arm 7, and the arm 7 can rotate downward from a predetermined position during flight.
  • 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.
  • the flying device 1 also has a stopper 30 that prevents the arm 7 from rotating upward beyond a predetermined position.
  • 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 arm 7 also has a first part 71 fixed to the main body 6 and a second part 72 that is rotatable relative to the first part 71 and to which the rotor 3 is attached.
  • 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.
  • 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 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 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 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.
  • 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.
  • This configuration makes it possible to easily change the shape and size of the frame body 8 according to the shape and size of the engine 4.
  • 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.
  • the flying device 1 also includes a skid 10 attached to the lower part of the main body 6, and the skid 10 has multiple straight frame members 100 and joints 200 that connect the frame members 100 together.
  • 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
  • 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 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 cooling device 40 is also 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 upper end of the air guide member 44 is positioned above the blade 3d.
  • the upper end of the air guide member 44 is positioned lower than the blade 3d.
  • the downward airflow generated by the rotation of the blade 3d can be guided downward by the air guide member 44, and part of the airflow can also be guided from above the air guide member 44 to the drive unit 4, etc., for cooling.
  • the machine body 2 also has a main body 6 on which the drive unit 4 is mounted, and the cooling device 40 is disposed to the side of the main body 6.
  • the cooling device 40 is disposed to the side of the main body 6, so heat can be efficiently dissipated from the cooling device 40 without being impeded by the main body 6.
  • 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 air guide member 44 also has a first plate 44a and a second plate 44b that are erected facing each other with a gap between them, and a third plate 44c that connects the first plate 44a and the second plate 44b.
  • 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 air guide member 44 also has an extension section 45 in which the distance between the first plate 44a and the second plate 44b gradually increases as the distance increases upward.
  • the downward airflow generated by the rotation of the blade 3d can be reliably taken in between the first plate 44a and the second plate 44b from the expanded upper end of the air guide member 44 and directed toward the cooling device 40.
  • the flying device 1 includes an airframe 2, a rotor 3 attached to the airframe 2, an engine 4 that supplies the driving force to rotate the rotor 3, a motor 5 that supplies the driving force to rotate the rotor 3, and a battery 46 that stores the power supplied to the motor 5, and the battery 46 is disposed on one side and the other side of the engine 4 when viewed from above.
  • 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 rotor 3, battery 46, and engine 4 are also arranged side by side in the horizontal direction.
  • the cooling water piping connected to the radiator 40 can be routed close to the battery 46, preventing the battery 46 from overheating.
  • radiator 40 and the battery 46 are positioned such that they are offset in the vertical direction.
  • the rotor 3 and the engine 4 which is a heavy object, overlap in the vertical direction, improving the balance of the flying device 1 during flight.
  • the aircraft 2 also has a main body 6 and an arm 7 extending from the main body 6, and the rotor 3 includes a main rotor 3A attached to the main body 6 and a sub-rotor 3B attached to the arm 7, with the main rotor 3A and the sub-rotor 3B overlapping 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, and the main body 6 has a frame body 8 on which an engine 4 is mounted, the positioning device 47 is disposed on the top stage 8A of the frame body 8, and the engine 4 is disposed on the upper stage 8B of the frame body 8 below the positioning device 47.
  • the flying device 1 also includes a fuel tank 50 that stores fuel to be supplied to the engine 4, and the fuel tank 50 is disposed in the lower level 8D of the frame body 8.
  • the fuel tank 50 is placed in the lower stage 8D of the frame body 8, allowing the fuel tank 50 to be expanded downward according to the amount of fuel required.
  • changes in the weight balance of the aircraft 2 caused by an increase or decrease in the amount of fuel inside the fuel tank 50 can be kept small.
  • the flying device 1 also includes a control device 55 that controls the operation of the engine 4 and the motor 5, and the control device 55 is disposed in the middle section 8C of the frame body 8.
  • control device 55 is placed in the middle section 8C of the frame body 8, so that wiring and other connections between the control device 55 and other devices placed above or below it can be made over short distances.
  • the fuel tank 50 is surrounded by a casing 51.
  • the width W1 of the base end of the first support part 9 that supports the main rotor 3A is greater than the width W2 of the base end of the second support part 7 that supports the sub-rotor 3B, so the support strength of the main rotor 3A can be made greater than the support strength of the sub-rotor 3B.
  • 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 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 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.
  • 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.
  • 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 engine 4 can be efficiently cooled using two radiators (first radiator 40A, second radiator 40B) with one cooling system 90.
  • 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.
  • This configuration makes it possible to secure space below the second crankshaft 84 side of the engine 4 for arranging other equipment.
  • 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.
  • 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 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.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Wind Motors (AREA)
PCT/JP2022/048090 2022-12-27 2022-12-27 飛行装置 WO2024142205A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2022/048090 WO2024142205A1 (ja) 2022-12-27 2022-12-27 飛行装置
JP2024566990A JPWO2024142205A1 (enrdf_load_stackoverflow) 2022-12-27 2022-12-27

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017171014A (ja) * 2016-03-22 2017-09-28 国立大学法人横浜国立大学 マルチローター機
WO2020013264A1 (ja) * 2018-07-11 2020-01-16 株式会社ナイルワークス 飛行体
CN212766743U (zh) * 2020-06-08 2021-03-23 福建中利科技有限公司 一种能自主供电且适用于海上搜索的无人机
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
JP2017171014A (ja) * 2016-03-22 2017-09-28 国立大学法人横浜国立大学 マルチローター機
WO2020013264A1 (ja) * 2018-07-11 2020-01-16 株式会社ナイルワークス 飛行体
CN212766743U (zh) * 2020-06-08 2021-03-23 福建中利科技有限公司 一种能自主供电且适用于海上搜索的无人机
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

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