JP2020078975A - Propeller device - Google Patents

Propeller device Download PDF

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JP2020078975A
JP2020078975A JP2018212288A JP2018212288A JP2020078975A JP 2020078975 A JP2020078975 A JP 2020078975A JP 2018212288 A JP2018212288 A JP 2018212288A JP 2018212288 A JP2018212288 A JP 2018212288A JP 2020078975 A JP2020078975 A JP 2020078975A
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actuating
changing means
pitch
propeller device
pitch changing
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JP6975977B2 (en
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孝志 野▲崎▼
Takashi Nozaki
孝志 野▲崎▼
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Shizuoka Institute of Science and Technology
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Abstract

To provide a propeller device that can be reduced in size and weight and can prevent pitch changing means thereof from acting as air resistance and which can control a posture of a machine body.SOLUTION: A propeller device comprises: a rotating member 1 that is connected to an output shaft of a motor to be rotationally driven; a plurality of vane members 2 attached to the rotating member 1; pitch changing means 3 that rotates the vane members 2 respectively with shafts L2 extending in a longitudinal direction thereof as centers to change pitches of the vane members 2; a linear actuator 4 that actuates the pitch changing means 3; and an activating member 5 that activates the pitch changing means 3 by driving the linear actuator 4. The rotating member 1 has a storage space formed therein, and has the pitch changing means 3 arranged in the storage space.SELECTED DRAWING: Figure 5

Description

本発明は、駆動源の駆動によって回転部材と共に羽根部材を回転して推力を得るとともに、作動アクチュエータの駆動力を作動部材を介してピッチ変更手段に伝達させて羽根部材のピッチを変更し得るプロペラ装置に関するものである。   According to the present invention, a propeller capable of rotating a blade member together with a rotating member to obtain thrust by driving a drive source and transmitting the driving force of an actuating actuator to a pitch changing unit via the operating member to change the pitch of the blade member. It relates to the device.

無人航空機、ドローン、電動推進垂直離着陸機「eVTOL（イーブイトール）」、及び空飛ぶクルマ（Urban Air Mobility）などは、通常、モータ等の駆動源を駆動させることによって羽根部材を回転して推力を得るプロペラ装置を具備しており、垂直離着陸が可能である点や低速飛行が可能である点等の種々の利点を有している。近時においては、効率よく推力を得て後続距離を延長させ得るプロペラ装置や姿勢制御が可能なプロペラ装置が求められており、例えば特許文献１にて開示されているように、羽根部材の長手方向に延びる軸を中心としてそれぞれ回転させることにより当該羽根部材のピッチを変更するピッチ変更手段が提案されている。   Unmanned aerial vehicles, drones, electric propulsion vertical take-off and landing vehicles "eVTOL", and flying vehicles (Urban Air Mobility) usually rotate blade members by driving a drive source such as a motor to generate thrust. It has various advantages such as vertical takeoff and landing and low speed flight. Recently, there is a demand for a propeller device capable of efficiently obtaining thrust to extend the following distance and a propeller device capable of attitude control. For example, as disclosed in Patent Document 1, the length of the blade member is increased. There has been proposed pitch changing means for changing the pitch of the blade members by rotating them about axes extending in the direction.

実用新案登録第３０５００３０号公報Utility model registration No. 3050030

しかしながら、上記従来技術においては、羽根部材のピッチを変更するピッチ変更手段がプロペラ装置の外側に配設されているので、装置全体が大型化してし、装置の質量が増加してしまうとともに、ピッチ変更手段の全体又は一部が空気抵抗となって姿勢制御や巡航距離等の飛行状況に悪影響が及んでしまう虞があった。   However, in the above-mentioned conventional technique, the pitch changing means for changing the pitch of the blade members is disposed outside the propeller device, so that the entire device becomes large in size, and the mass of the device increases, and the pitch changes. There is a possibility that the whole or part of the changing means may become air resistance and adversely affect the flight conditions such as attitude control and cruising distance.

本発明は、このような事情に鑑みてなされたもので、装置の小型軽量化を図ることができるとともに、ピッチ変更手段が空気抵抗になってしまうのを防止することができるプロペラ装置を提供することにある。また、本発明の装置により、機体の姿勢制御も可能となる。   The present invention has been made in view of such circumstances, and provides a propeller device capable of reducing the size and weight of the device and preventing the pitch changing means from becoming an air resistance. Especially. Further, the apparatus of the present invention also enables attitude control of the airframe.

請求項１記載の発明は、駆動源の出力軸と連結されて回転駆動可能な回転部材と、前記回転部材に取り付けられた複数の羽根部材と、前記羽根部材の長手方向に延びる軸を中心としてそれぞれ回転させることにより当該羽根部材のピッチを変更するピッチ変更手段と、前記ピッチ変更手段を作動させて前記羽根部材のピッチを任意のタイミングで変更させる作動アクチュエータと、前記作動アクチュエータの駆動によって変位して前記ピッチ変更手段を作動させる作動部材とを具備し、前記駆動源の駆動によって前記回転部材と共に前記羽根部材を回転して推力を得るとともに、前記作動アクチュエータの駆動力を前記作動部材を介して前記ピッチ変更手段に伝達させて前記羽根部材のピッチを変更し得るプロペラ装置であって、前記回転部材は、内部に収容空間が形成されるとともに、当該収容空間に前記ピッチ変更手段が配設されたことを特徴とする。   The invention according to claim 1 is centered on a rotary member that is connected to an output shaft of a drive source and is rotationally drivable, a plurality of blade members attached to the rotary member, and an axis extending in the longitudinal direction of the blade member. Pitch changing means for changing the pitch of the blade member by rotating them, an actuating actuator for actuating the pitch changing means to change the pitch of the blade member at an arbitrary timing, and a displacement by driving the actuating actuator. And an actuating member for actuating the pitch changing means to rotate the blade member together with the rotating member by the drive of the drive source to obtain a thrust force, and a driving force of the actuating actuator via the actuating member. A propeller device capable of changing the pitch of the blade members by transmitting it to the pitch changing means, wherein the rotating member has an accommodation space formed therein, and the pitch changing means is disposed in the accommodation space. It is characterized by

請求項２記載の発明は、請求項１記載のプロペラ装置において、前記ピッチ変更手段及び前記作動アクチュエータは、前記駆動源を挟んだ位置にそれぞれ配設されるとともに、前記作動部材は、前記駆動源を貫通して取り付けられたプッシュロッドから成ることを特徴とする。   According to a second aspect of the present invention, in the propeller device according to the first aspect, the pitch changing means and the actuating actuator are respectively arranged at positions sandwiching the drive source, and the actuating member is the drive source. It is characterized in that it consists of a push rod that is attached to penetrate.

請求項３記載の発明は、請求項２記載のプロペラ装置において、前記駆動源の出力軸は、当該駆動源を貫通したパイプ状部材から成り、前記作動部材は、当該出力軸に挿通して配設されたことを特徴とする。   According to a third aspect of the present invention, in the propeller device according to the second aspect, the output shaft of the drive source is a pipe-shaped member that penetrates the drive source, and the actuating member is inserted into the output shaft. It is characterized by being set up.

請求項４記載の発明は、請求項２又は請求項３記載のプロペラ装置において、前記作動アクチュエータ及び作動部材の間に介在し、前記作動部材の回転力が前記作動アクチュエータに伝達しない状態を維持しつつ前記作動アクチュエータの駆動力を前記作動部材に伝達して前記ピッチ変更手段を作動させ得る継ぎ手部材を具備したことを特徴とする。   The invention according to claim 4 is the propeller device according to claim 2 or 3, wherein the propeller device is interposed between the actuating actuator and the actuating member, and a state in which a rotational force of the actuating member is not transmitted to the actuating actuator is maintained. At the same time, a joint member capable of transmitting the driving force of the actuating actuator to the actuating member to actuate the pitch changing means is provided.

請求項５記載の発明は、請求項４に記載のプロペラ装置において、前記継ぎ手部材に軸受を有することを特徴とする。   According to a fifth aspect of the present invention, in the propeller device according to the fourth aspect, the joint member has a bearing.

請求項６記載の発明は、請求項１〜５の何れか１つに記載のプロペラ装置において、前記駆動源は、モータから成るとともに、前記作動部材は、非磁性体材料から成ることを特徴とする。   According to a sixth aspect of the present invention, in the propeller device according to any one of the first to fifth aspects, the drive source is a motor, and the operating member is a non-magnetic material. To do.

請求項７記載の発明は、請求項１〜６の何れか１つに記載のプロペラ装置において、前記ピッチ変更手段は、前記作動部材の変位に伴って移動する連動部材と、前記連動部材の移動を前記羽根部材の回転力に変換してピッチを変更させるカム部材とを有することを特徴とする。   According to a seventh aspect of the present invention, in the propeller device according to any one of the first to sixth aspects, the pitch changing unit moves an interlocking member that moves with displacement of the actuating member, and moves the interlocking member. To a rotational force of the blade member to change the pitch, and a cam member for changing the pitch.

請求項８記載の発明は、請求項７に記載のプロペラ装置において、前記カム部材は、前記連動部材に形成されたカム溝に沿って変位可能なカムフォロアあるいは転動体から成ることを特徴とする。   According to an eighth aspect of the present invention, in the propeller device according to the seventh aspect, the cam member is a cam follower or a rolling element that is displaceable along a cam groove formed in the interlocking member.

請求項９記載の発明は、請求項１〜８の何れか１つに記載のプロペラ装置において、前記作動アクチュエータは、前記作動部材のスライド方向に駆動力を伝達可能なリニアアクチュエータから成ることを特徴とする。   According to a ninth aspect of the present invention, in the propeller device according to any one of the first to eighth aspects, the actuating actuator is a linear actuator capable of transmitting a driving force in a sliding direction of the actuating member. And

請求項１０記載の発明は、請求項１〜８の何れか１つに記載のプロペラ装置において、前記作動アクチュエータは、サーボモータから成り、当該サーボモータの駆動による回転力を前記作動部材のスライド方向に変換して伝達可能な変換手段を具備したことを特徴とする。   According to a tenth aspect of the present invention, in the propeller device according to any one of the first to eighth aspects, the actuating actuator comprises a servomotor, and rotational force generated by driving the servomotor is applied to a sliding direction of the actuating member. It is characterized in that it is provided with a converting means capable of converting and transmitting.

請求項１の発明によれば、回転部材は、内部に収容空間が形成されるとともに、当該収容空間にピッチ変更手段が配設されたので、装置の小型軽量化を図ることができるとともに、ピッチ変更手段が空気抵抗になってしまうのを防止することができる。   According to the invention of claim 1, since the rotary member has the accommodation space formed therein and the pitch changing means is disposed in the accommodation space, the device can be reduced in size and weight, and the pitch can be reduced. It is possible to prevent the changing unit from becoming an air resistance.

請求項２の発明によれば、ピッチ変更手段及び作動アクチュエータは、駆動源を挟んだ位置にそれぞれ配設されるとともに、作動部材は、駆動源を貫通して取り付けられたプッシュロッドから成るので、プロペラ装置全体を直線状に配設させることができ、他の構成部品のレイアウトの自由度を向上させることができる。   According to the invention of claim 2, the pitch changing means and the actuating actuator are respectively arranged at positions sandwiching the drive source, and the actuating member is constituted by a push rod mounted so as to penetrate the drive source. The entire propeller device can be linearly arranged, and the degree of freedom in layout of other components can be improved.

請求項３の発明によれば、駆動源の出力軸は、当該駆動源を貫通したパイプ状部材から成り、作動部材は、当該出力軸に挿通して配設されたので、作動部材の変位を安定して行わせることができる。   According to the invention of claim 3, the output shaft of the drive source is formed of a pipe-shaped member penetrating the drive source, and the actuating member is arranged so as to pass through the output shaft. It can be performed stably.

請求項４の発明によれば、作動アクチュエータ及び作動部材の間に介在し、作動部材の回転力が作動アクチュエータに伝達しない状態を維持しつつ作動アクチュエータの駆動力を作動部材に伝達してピッチ変更手段を作動させ得る継ぎ手部材を具備したので、作動アクチュエータを固定させた状態でピッチ変更手段を安定して作動させることができる。また、ねじ等により回転を直動に変換する継手部材による構成とは異なり、ピッチ可変の際、機構全体にモーメント荷重が作用せず、直線的な作動が円滑かつ安定的に可能となる。   According to the invention of claim 4, the driving force of the actuating actuator is transmitted to the actuating member while being interposed between the actuating actuator and the actuating member, and the rotational force of the actuating member is not transmitted to the actuating actuator, thereby changing the pitch. Since the joint member that can operate the means is provided, the pitch changing means can be stably operated with the operation actuator fixed. Further, unlike the configuration of a joint member that converts rotation into linear motion by using a screw or the like, when the pitch is changed, moment load does not act on the entire mechanism, and linear operation can be performed smoothly and stably.

請求項５の発明によれば、継ぎ手部材の相対変位する箇所に軸受を具備したので、摩擦力を低減させることにより、円滑かつ安定な作動や伝達効率の向上を得ることができる。   According to the fifth aspect of the present invention, since the bearing is provided at the position of relative displacement of the joint member, smooth and stable operation and improvement of transmission efficiency can be obtained by reducing the frictional force.

請求項６の発明によれば、駆動源は、モータから成るとともに、作動部材は、非磁性体材料から成るので、モータを貫通して配設された作動部材がモータに対して磁気的影響を及ぼしてしまうのを防止することができる。   According to the invention of claim 6, since the drive source is composed of the motor and the actuating member is composed of the non-magnetic material, the actuating member disposed penetrating the motor exerts a magnetic influence on the motor. It can be prevented from affecting.

請求項７の発明によれば、ピッチ変更手段は、作動部材の変位に伴って移動する連動部材と、連動部材の移動を羽根部材の回転力に変換してピッチを変更させるカム部材とを有するので、ピッチ変更手段を確実且つ円滑に作動させて羽根部材のピッチを変更させることができる。   According to the invention of claim 7, the pitch changing means has an interlocking member that moves in accordance with the displacement of the actuating member, and a cam member that converts the movement of the interlocking member into the rotational force of the blade member to change the pitch. Therefore, the pitch changing means can be operated reliably and smoothly to change the pitch of the blade members.

請求項８の発明によれば、カム部材は、連動部材に形成されたカム溝に沿って変位可能なカムフォロアや転動体から成るので、羽根部材のピッチの変更をより円滑且つ安定して行わせることができる。   According to the invention of claim 8, since the cam member is composed of a cam follower and a rolling element which can be displaced along the cam groove formed in the interlocking member, the pitch of the blade member can be changed more smoothly and stably. be able to.

請求項９の発明によれば、作動アクチュエータは、作動部材のスライド方向に駆動力を伝達可能なリニアアクチュエータから成るので、作動アクチュエータの駆動力を効率的に作動部材に伝達させることができる。   According to the invention of claim 9, the actuating actuator comprises a linear actuator capable of transmitting the driving force in the sliding direction of the actuating member, so that the driving force of the actuating actuator can be efficiently transmitted to the operating member.

請求項１０の発明によれば、作動アクチュエータは、サーボモータから成り、当該サーボモータの駆動による回転力を作動部材のスライド方向に変換して伝達可能な変換手段を具備したので、汎用的なサーボモータを用いて製造コストを低減させることができる。   According to the tenth aspect of the present invention, the actuating actuator is formed of a servomotor, and the actuating actuator is provided with a converting means capable of converting a rotational force generated by driving the servomotor into a sliding direction of the operating member and transmitting the same. A manufacturing cost can be reduced by using a motor.

本発明の実施形態に係るプロペラ装置の外観全体を示す斜視図1 is a perspective view showing the overall appearance of a propeller device according to an embodiment of the present invention. 同プロペラ装置を示す側面図Side view showing the same propeller device 同プロペラ装置を示す平面図Plan view showing the same propeller device 同プロペラ装置を示す正面図Front view showing the same propeller device 同プロペラ装置を示す縦断面図Vertical cross-sectional view showing the same propeller device 同プロペラ装置のピッチ変更手段を側面方向から見た拡大断面図Enlarged sectional view of the pitch changing means of the propeller device as viewed from the side 同プロペラ装置のピッチ変更手段を正面方向から見た拡大断面図Enlarged sectional view of the pitch changing means of the propeller device as seen from the front direction. 同プロペラ装置の回転部材の内部構成を側面方向から見た拡大図The enlarged view which looked at the internal composition of the rotation member of the same propeller device from the side. 同プロペラ装置の継ぎ手部材の内部構成を示す断面図Sectional drawing which shows the internal structure of the joint member of the same propeller apparatus. 本発明の他の実施形態に係るプロペラ装置を示す側面図A side view showing a propeller device according to another embodiment of the present invention. 同プロペラ装置を示す平面図Plan view showing the same propeller device 同プロペラ装置を示す背面図Rear view showing the same propeller device

以下、本発明の実施形態について図面を参照しながら具体的に説明する。
本実施形態に係るプロペラ装置は、無人航空機やドローンなどに搭載されて推力を得るもので、図１〜５に示すように、回転部材１と、羽根部材２と、ピッチ変更手段３と、作動アクチュエータとしてのリニアアクチュエータ４と、作動部材５と、継ぎ手部材６とを具備し、モータＭ（駆動源）の駆動によって回転部材１と共に羽根部材２を回転して推力を得るとともに、リニアアクチュエータ４の駆動力を作動部材５を介してピッチ変更手段３に伝達させて羽根部材２のピッチを変更し得るよう構成されている。 Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.
The propeller device according to the present embodiment is mounted on an unmanned aerial vehicle, a drone, or the like to obtain thrust, and as shown in FIGS. 1 to 5, a rotating member 1, a blade member 2, a pitch changing means 3, and an operation. A linear actuator 4 as an actuator, an actuating member 5, and a joint member 6 are provided, and the blade member 2 is rotated together with the rotating member 1 by the drive of the motor M (driving source) to obtain a thrust force. The pitch of the blade members 2 can be changed by transmitting the driving force to the pitch changing means 3 via the operating member 5.

駆動源としてのモータＭは、無人航空機やドローンなどに搭載されたバッテリから電力が供給されて駆動するブラシレスモータ等から成り、駆動時に外部の筒状ロータが回転するアウタロータ型モータから成る。このモータＭの出力軸Ｍａは、モータＭの駆動時に回転して羽根部材２を回転させるもので、本実施形態においては、モータＭ（駆動源）を貫通したパイプ状部材から成る。   The motor M as a drive source is a brushless motor or the like that is driven by electric power supplied from a battery mounted on an unmanned aerial vehicle, a drone, or the like, and is an outer rotor type motor that rotates an external cylindrical rotor during driving. The output shaft Ma of the motor M rotates when the motor M is driven to rotate the blade member 2. In the present embodiment, the output shaft Ma is formed of a pipe-shaped member penetrating the motor M (driving source).

回転部材１は、モータＭ（駆動源）の出力軸Ｍａと連結されて回転駆動可能なもので、ホルダ１ａと、ケース１ｂとを有して構成されている。ホルダ１ａは、出力軸Ｍａと接続されてモータＭの駆動力を受ける部材から成り、ボルト等によってケース１ｂと連結されている。かかるケース１ｂは、内部に収容空間を有したもので、モータＭを駆動させると、軸Ｌ１を中心としてホルダ１ａと共に回転し得るようになっている。   The rotating member 1 is connected to an output shaft Ma of a motor M (driving source) and can be driven to rotate, and includes a holder 1a and a case 1b. The holder 1a is a member that is connected to the output shaft Ma and receives the driving force of the motor M, and is connected to the case 1b by bolts or the like. The case 1b has an accommodation space inside, and when the motor M is driven, the case 1b can rotate together with the holder 1a about the axis L1.

羽根部材２は、回転部材１の側面に複数（本実施形態においては２枚）取り付けられたもので、モータＭの駆動力にて軸Ｌ１を中心として回転部材１と共に回転することにより、モータＭ（駆動源）の回転力を推進力に変換可能な形状とされている。かかる羽根部材２の基端側は、図５〜７に示すように、それぞれピンＰ１により連結部２ａが連結されており、当該連結部２ａがピッチ変更手段３と接続されている。   A plurality of (two in the present embodiment) blade members 2 are attached to the side surface of the rotating member 1, and are rotated together with the rotating member 1 about the axis L1 by the driving force of the motor M. It has a shape capable of converting the rotational force of the (driving source) into propulsive force. As shown in FIGS. 5 to 7, the base end side of the blade member 2 is connected to the connecting portion 2a by a pin P1, and the connecting portion 2a is connected to the pitch changing means 3.

ピッチ変更手段３は、羽根部材２の長手方向に延びる軸Ｌ２を中心としてそれぞれ回転させることにより当該羽根部材２のピッチを変更するためのもので、図８に示すように、カム溝３ａａが一対形成された連動部材３ａと、カム部材としてのカムフォロア３ｂとを有して構成されている。かかるカム溝３ａａは、カムフォロア３ｂを嵌入して組み付け可能とされており、連動部材３ａが同図中左右方向に移動すると、カム溝３ａａのカム作用によってカムフォロア３ｂが変位させるようになっている。   The pitch changing means 3 is for changing the pitch of the blade member 2 by rotating the blade member 2 about an axis L2 extending in the longitudinal direction of the blade member 2, and as shown in FIG. It has the formed interlocking member 3a and a cam follower 3b as a cam member. The cam groove 3aa can be assembled by fitting the cam follower 3b. When the interlocking member 3a moves in the left-right direction in the figure, the cam follower 3b is displaced by the cam action of the cam groove 3aa.

また、カムフォロア３ｂは、一対のカム溝３ａａにそれぞれ嵌入して組み付けられており、一方のカムフォロア３ｂが一方の羽根部材２の連結部２ａに接続されるとともに、他方のカムフォロア３ｂが他方の羽根部材２の連結部２ａに接続されている。そして、カムフォロア３ｂの羽根部材２に対する接続部は、羽根部材２の回転の中心軸である軸Ｌ２からオフセットした位置とされており、カムフォロア３ｂがカム溝３ａａ内で変位すると、羽根部材２が軸Ｌ２を中心として回転し、ピッチが変更されるようになっている。   The cam followers 3b are fitted and assembled in the pair of cam grooves 3aa, respectively, and one cam follower 3b is connected to the connecting portion 2a of the one blade member 2 and the other cam follower 3b is the other blade member. It is connected to two connecting portions 2a. The connecting portion of the cam follower 3b with respect to the blade member 2 is located at a position offset from the axis L2 which is the central axis of rotation of the blade member 2, and when the cam follower 3b is displaced in the cam groove 3aa, the blade member 2 is rotated. It rotates around L2 and the pitch is changed.

すなわち、カムフォロア３ｂ（カム部材）は、カム溝３ａａ内に嵌入しつつ羽根部材２に偏心状態で接続されているので、作動部材５が同図中左右方向にスライド（変位）するのに伴って連動部材３ａが同方向に移動（スライド）すると、カム溝３ａａ内で移動し、カム作用によって羽根部材２を軸Ｌ２を中心として回転させることができる。これにより、カムフォロア３ｂは、連動部材３ａの移動を羽根部材２の回転力に変換してピッチを変更可能とされている。   That is, since the cam follower 3b (cam member) is fitted into the cam groove 3aa and is eccentrically connected to the blade member 2, as the actuating member 5 slides (displaces) in the left-right direction in FIG. When the interlocking member 3a moves (slides) in the same direction, it moves in the cam groove 3aa, and the blade member 2 can be rotated about the axis L2 by the cam action. As a result, the cam follower 3b can change the pitch by converting the movement of the interlocking member 3a into the rotational force of the blade member 2.

さらに、連結部２ａとケース１ｂとの間には、図５〜７に示すように、ベアリングＢ１が取り付けられており、羽根部材２のピッチ変更の際、ベアリングＢ１を介在させてケース１ｂに対して羽根部材２が回転し得るようになっている。なお、本実施形態に係るベアリングＢ１は、ボールベアリングとされているが、ニードルベアリング等、他のベアリングを配設するようにしてもよく、滑り軸受或いはブッシュ等を介在させるようにしてもよい。   Further, as shown in FIGS. 5 to 7, a bearing B1 is attached between the connecting portion 2a and the case 1b, and when the pitch of the blade member 2 is changed, the bearing B1 is interposed to the case 1b. The blade member 2 can rotate. Although the bearing B1 according to the present embodiment is a ball bearing, other bearings such as a needle bearing may be provided, or a slide bearing or a bush may be interposed.

リニアアクチュエータ４（作動アクチュエータ）は、ピッチ変更手段３を作動させて羽根部材２のピッチを任意のタイミングで変更させるもので、作動部材５のスライド方向に駆動可能な作動軸４ａを具備している。具体的には、作動軸４ａは、図９に示すように、継ぎ手部材６を介して作動部材５の端部と接続されており、作動部材５の軸の延長線上に沿って延設するよう配設されている。   The linear actuator 4 (actuating actuator) actuates the pitch changing means 3 to change the pitch of the blade members 2 at an arbitrary timing, and is provided with an actuating shaft 4a that can be driven in the sliding direction of the actuating member 5. . Specifically, as shown in FIG. 9, the operating shaft 4a is connected to the end portion of the operating member 5 via a joint member 6, and extends along the extension line of the shaft of the operating member 5. It is arranged.

そして、リニアアクチュエータ４の駆動により作動軸４ａが同図中左右方向に移動すると、駆動力が継ぎ手部材６を介して作動部材５に伝わり、当該作動軸５を図中左右方向に移動させ得るようになっている。なお、本実施形態においては、モータＭから支持柱ｈ１が突出形成されており、その支持柱ｈ１の突端側にリニアアクチュエータ４を固定させるための支持台ｈ２が形成されている。   When the actuating shaft 4a is moved in the left-right direction in the figure by driving the linear actuator 4, the driving force is transmitted to the actuating member 5 via the joint member 6 so that the actuating shaft 5 can be moved in the left-right direction in the figure. It has become. In the present embodiment, the support pillar h1 is formed so as to project from the motor M, and the support base h2 for fixing the linear actuator 4 is formed on the projecting end side of the support pillar h1.

作動部材５は、リニアアクチュエータ４（作動アクチュエータ）の駆動によって変位（スライド）してピッチ変更手段３を作動させる軸状部材から成るもので、本実施形態においては、パイプ状部材から成る出力軸Ｍａに挿通して配設されたプッシュロッドから成る。具体的には、作動部材５の基端は、図９に示すように、継ぎ手部材６に位置するとともに、他端は、図８に示すように、ピッチ変更手段３の連動部材３ａに接続されている。そして、リニアアクチュエータ４が駆動すると、その駆動力により作動部材５が軸方向にスライドして出力軸Ｍａ内で摺動するとともに、連動部材３ａを移動して羽根部材２のピッチを任意に変更し得るようになっている。   The actuating member 5 is a shaft-like member that is displaced (slides) by driving the linear actuator 4 (actuating actuator) to actuate the pitch changing means 3. In the present embodiment, the output member Ma is a pipe-like member. It consists of a push rod that is inserted through. Specifically, the base end of the actuating member 5 is located at the joint member 6 as shown in FIG. 9, and the other end is connected to the interlocking member 3a of the pitch changing means 3 as shown in FIG. ing. When the linear actuator 4 is driven, the driving force of the linear actuator 4 causes the actuating member 5 to slide in the axial direction and slide within the output shaft Ma, and the interlocking member 3a is moved to arbitrarily change the pitch of the blade members 2. I'm supposed to get it.

また、本実施形態に係る作動部材５は、非磁性体材料から成り、出力軸Ｍａに挿通されてモータＭを貫通した状態で取り付けられた場合、モータＭに対して磁気的な影響を及ぼさないようになっている。なお、作動部材５は、他の材料から成るものとし、その表面に非磁性体材料から成るカバーにて覆うもの、或いは、モータＭの作動部材５を貫通させる部位に非磁性体材料から成るカバーで覆うもの等であってもよい。   Further, the actuating member 5 according to the present embodiment is made of a non-magnetic material, and does not exert a magnetic influence on the motor M when it is inserted into the output shaft Ma and penetrates the motor M. It is like this. The operating member 5 is made of another material, and its surface is covered with a cover made of a non-magnetic material, or the portion of the motor M through which the operating member 5 penetrates is made of a non-magnetic material. It may be covered with.

しかして、本実施形態においては、ピッチ変更手段３及びリニアアクチュエータ４（作動アクチュエータ）は、モータＭ（駆動源）を挟んだ位置にそれぞれ配設されるとともに、作動部材５がモータＭを貫通して取り付けられている。これにより、モータＭの前側にピッチ変更手段３が位置するとともに、後ろ側にリニアアクチュエータ４が位置し、ピッチ変更手段３、モータＭ及びリニアアクチュエータ４が直線状に配置するようになっている。   Therefore, in the present embodiment, the pitch changing means 3 and the linear actuator 4 (actuating actuator) are arranged at positions sandwiching the motor M (driving source), and the actuating member 5 penetrates the motor M. Installed. As a result, the pitch changing means 3 is located on the front side of the motor M and the linear actuator 4 is located on the rear side thereof, and the pitch changing means 3, the motor M and the linear actuator 4 are arranged linearly.

継ぎ手部材６は、リニアアクチュエータ４（作動アクチュエータ）及び作動部材５の間に介在し、作動部材５の回転力がリニアアクチュエータ４に伝達しない状態を維持しつつリニアアクチュエータ４の駆動力を作動部材５に伝達してピッチ変更手段３を作動させ得るものである。本実施形態に係る継ぎ手部材６は、図９に示すように、内部にリニアアクチュエータ４の作動軸４ａ及び作動部材５の基端側を挿通可能なハウジング６ａと、ハウジング６内に配設されたベアリングＢ２とを有して構成されている。本実施例でベアリングＢ２は複数配置されているが、単数でもよい。ハウジング６ａは、ピンＰ２によってリニアアクチュエータ４の作動軸４ａと連結されており、リニアアクチュエータ４が駆動して作動軸４ａが変位すると、同方向に移動するようになっている。   The joint member 6 is interposed between the linear actuator 4 (actuating actuator) and the actuating member 5, and maintains the state in which the rotational force of the actuating member 5 is not transmitted to the linear actuator 4 while maintaining the driving force of the linear actuator 4 in place. And the pitch changing means 3 can be operated. As shown in FIG. 9, the joint member 6 according to the present embodiment is disposed in the housing 6 and a housing 6a into which the operation shaft 4a of the linear actuator 4 and the proximal end side of the operation member 5 can be inserted. The bearing B2 is provided. Although a plurality of bearings B2 are provided in this embodiment, a single bearing B2 may be provided. The housing 6a is connected to the actuating shaft 4a of the linear actuator 4 by a pin P2, and when the linear actuator 4 is driven to displace the actuating shaft 4a, the housing 6a moves in the same direction.

ベアリングＢ２は、ハウジング６ａ内において作動部材５の基端側に取り付けられており、作動部材５の回転がハウジング６ａに伝達されないよう機能するとともに、リニアアクチュエータ４の作動軸４ａの変位と共に移動して、作動部材５を同方向に移動するよう構成されている。なお、本実施形態に係るベアリングＢ２は、ボールベアリングとされているが、ニードルベアリング等、他のベアリングを配設するようにしてもよく、或いはブッシュ等を介在させるようにしてもよい。   The bearing B2 is attached to the base end side of the operating member 5 in the housing 6a, functions to prevent the rotation of the operating member 5 from being transmitted to the housing 6a, and moves with the displacement of the operating shaft 4a of the linear actuator 4. , The operating member 5 is configured to move in the same direction. The bearing B2 according to the present embodiment is a ball bearing, but other bearings such as a needle bearing may be arranged, or a bush or the like may be interposed.

ここで、本実施形態に係るプロペラ装置は、図５〜８に示すように、回転部材１の内部に収容空間が形成されるとともに、当該収容空間にピッチ変更手段３が配設されている。すなわち、本実施形態においては、羽根部材２が取り付けられた回転部材１の内部にピッチ変更手段３を構成する連動部材３ａ及びカムフォロア３ｂ（カム部材）を収容させており、回転部材１の外部のリニアアクチュエータ４にてピッチ変更手段３を任意に作動させるよう構成されているのである。   Here, in the propeller device according to the present embodiment, as shown in FIGS. 5 to 8, an accommodation space is formed inside the rotating member 1, and the pitch changing means 3 is disposed in the accommodation space. That is, in the present embodiment, the interlocking member 3a and the cam follower 3b (cam member) that constitute the pitch changing means 3 are housed inside the rotating member 1 to which the blade member 2 is attached, and the outside of the rotating member 1 is accommodated. The linear actuator 4 is configured to operate the pitch changing means 3 arbitrarily.

本実施形態によれば、回転部材１の内部に収容空間が形成されるとともに、当該収容空間にピッチ変更手段３が配設されたので、装置の小型化を図ることができるとともに、ピッチ変更手段３が回転部材１で覆われるので、空気抵抗になってしまうのを防止することができる。また、本実施形態に係るピッチ変更手段３及びリニアアクチュエータ４は、モータＭ（駆動源）を挟んだ位置にそれぞれ配設されるとともに、作動部材５は、モータＭを貫通して取り付けられたプッシュロッドから成るので、プロペラ装置全体を直線状に配設させることができ、他の構成部品のレイアウトの自由度を向上させることができる。   According to the present embodiment, since the accommodation space is formed inside the rotating member 1 and the pitch changing means 3 is disposed in the accommodation space, the device can be downsized and the pitch changing means can be achieved. Since 3 is covered with the rotating member 1, it is possible to prevent air resistance. Further, the pitch changing means 3 and the linear actuator 4 according to the present embodiment are respectively arranged at positions sandwiching the motor M (driving source), and the actuating member 5 is a push attached to penetrate the motor M. Since it is made of a rod, the entire propeller device can be linearly arranged, and the degree of freedom in layout of other components can be improved.

さらに、本実施形態に係るモータＭ（駆動源）の出力軸Ｍａは、当該モータＭ（駆動源）を貫通したパイプ状部材から成り、作動部材５は、当該出力軸Ｍａに挿通して配設されたので、作動部材５の変位（軸方向のスライド）を安定して行わせることができる。またさらに、本実施形態に係る駆動源は、モータＭから成るとともに、作動部材５は、非磁性体材料から成るので、モータＭを貫通して配設された作動部材５がモータＭに対して磁気的影響を及ぼしてしまうのを防止することができる。   Further, the output shaft Ma of the motor M (driving source) according to the present embodiment is made of a pipe-shaped member that penetrates the motor M (driving source), and the actuating member 5 is arranged so as to be inserted through the output shaft Ma. Therefore, the displacement of the actuating member 5 (sliding in the axial direction) can be stably performed. Furthermore, since the drive source according to the present embodiment is composed of the motor M and the actuating member 5 is made of a non-magnetic material, the actuating member 5 disposed so as to penetrate the motor M with respect to the motor M. It is possible to prevent the magnetic influence.

また、本実施形態に係るピッチ変更手段３は、作動部材５の変位に伴って移動する連動部材３ａと、連動部材３ａの移動を羽根部材２の回転力に変換してピッチを変更させるカムフォロア３ｂ（カム部材）とを有するので、ピッチ変更手段３を確実且つ円滑に作動させて羽根部材２のピッチを変更させることができる。特に、本実施形態に係るカム部材は、連動部材３ａに形成されたカム溝３ａａに沿って変位可能なカムフォロア３ｂから成るので、羽根部材２のピッチの変更をより円滑且つ安定して行わせることができる。   The pitch changing means 3 according to the present embodiment moves the interlocking member 3a along with the displacement of the actuating member 5, and the cam follower 3b for changing the pitch by converting the movement of the interlocking member 3a into the rotational force of the blade member 2. (Cam member), the pitch changing means 3 can be operated reliably and smoothly to change the pitch of the blade member 2. In particular, since the cam member according to the present embodiment includes the cam follower 3b that can be displaced along the cam groove 3aa formed in the interlocking member 3a, the pitch of the blade member 2 can be changed more smoothly and stably. You can

さらに、本実施形態においては、リニアアクチュエータ４（作動アクチュエータ）及び作動部材５の間に介在し、作動部材５の回転力がリニアアクチュエータ４に伝達しない状態を維持しつつリニアアクチュエータ４の駆動力を作動部材５に伝達してピッチ変更手段３を作動させ得る継ぎ手部材６を具備したので、リニアアクチュエータ４を固定させた状態でピッチ変更手段３を安定して作動させることができる。継ぎ手部材６は、回転は吸収しつつ、前後方向の駆動をスムースかつ正確に伝達する機能を有する。ベアリングＢ２は単数でもよく、その構成は小型軽量化につなげることができる。   Further, in the present embodiment, the driving force of the linear actuator 4 is maintained while the state in which the rotational force of the operating member 5 is not transmitted to the linear actuator 4 is interposed between the linear actuator 4 (operating actuator) and the operating member 5. Since the joint member 6 that can be transmitted to the operating member 5 to operate the pitch changing means 3 is provided, the pitch changing means 3 can be stably operated with the linear actuator 4 fixed. The joint member 6 has a function of smoothly transmitting the drive in the front-rear direction while absorbing the rotation. The bearing B2 may be singular, and its configuration can lead to reduction in size and weight.

またさらに、本実施形態に係る作動アクチュエータは、作動部材５のスライド方向に駆動力を伝達可能なリニアアクチュエータから成るので、作動アクチュエータの駆動力を効率的に作動部材５に伝達させることができる。なお、本実施形態に係る作動アクチュエータとしてのリニアアクチュエータ４は、支持台ｈ２に固定されているので、モータＭと一体的に扱うことができる。   Furthermore, since the actuating actuator according to this embodiment is a linear actuator capable of transmitting a driving force in the sliding direction of the actuating member 5, the actuating actuator driving force can be efficiently transmitted to the actuating member 5. Since the linear actuator 4 as the actuating actuator according to the present embodiment is fixed to the support base h2, it can be handled integrally with the motor M.

以上、本実施形態について説明したが、本発明はこれに限定されず、例えば図１０〜１２に示すように、ピッチ変更手段３を作動させるための作動アクチュエータがサーボモータ７から成るものとされ、サーボモータ７の駆動による回転力を作動部材５のスライド方向に変換して伝達可能な変換手段を具備するプロペラ装置としてもよい。この場合、同図に示すように、作動部材５の基端側に２枚の板材ａ１、ａ２を固定させるとともに、モータＭ（駆動源）に支持台ｈ３を取り付けて、当該支持台ｈ３にサーボモータ７を固定させている。   Although the present embodiment has been described above, the present invention is not limited to this. For example, as shown in FIGS. 10 to 12, the actuating actuator for actuating the pitch changing means 3 is composed of the servo motor 7, A propeller device may be provided which includes a conversion unit capable of converting the rotational force generated by driving the servo motor 7 into the sliding direction of the operating member 5 and transmitting the same. In this case, as shown in the figure, the two plate members a1 and a2 are fixed to the base end side of the actuating member 5, the support base h3 is attached to the motor M (driving source), and the servo is attached to the support base h3. The motor 7 is fixed.

そして、サーボモータ７の出力軸にカムフォロア７ｂを有するアーム部材７ａを取り付け、そのカムフォロア７ｂを板材ａ１、ａ２の間に嵌入して組み付けることにより、サーボモータ７の駆動による回転力を作動部材５のスライド方向に変換して伝達するようになっている。なお、アーム部材７ａ及びカムフォロア７ｂは、本発明の変換手段を構成している。   Then, an arm member 7a having a cam follower 7b is attached to the output shaft of the servo motor 7, and the cam follower 7b is fitted and assembled between the plate members a1 and a2, whereby the rotational force generated by the driving of the servo motor 7 is applied to the operating member 5. It is designed to be converted to the slide direction and transmitted. The arm member 7a and the cam follower 7b constitute the converting means of the present invention.

このように、作動アクチュエータがサーボモータ７から成り、当該サーボモータ７の駆動による回転力を作動部材５のスライド方向に変換して伝達可能な変換手段（アーム部材７ａ及びカムフォロア７ｂ）を具備することにより、汎用的なサーボモータ７を用いて製造コストを低減させることができる。なお、サーボモータ７の駆動による回転力を作動部材５のスライド方向に変換して伝達する変換手段は、他の形態の機構を採用してもよい。   As described above, the actuating actuator is composed of the servo motor 7, and is provided with the converting means (the arm member 7a and the cam follower 7b) capable of converting the rotational force generated by the driving of the servo motor 7 into the sliding direction of the operating member 5 and transmitting the same. Thus, the manufacturing cost can be reduced by using the general-purpose servo motor 7. The converting means for converting the rotational force generated by the driving of the servomotor 7 into the sliding direction of the actuating member 5 and transmitting the same may adopt a mechanism of another form.

さらに、本実施形態においては、ピッチ変更手段３が連動部材３ａ及びカムフォロア３ｂ（カム部材）を有して構成されているが、回転部材１の収容空間に収容されていれば足り、例えば他のリンク機構等に代えてもよい。また、本実施形態においては、無人航空機やドローンなどに適用されているが、内燃機関（エンジン）を駆動源とする航空機や船舶等のプロペラ装置に適用してもよい。   Further, in the present embodiment, the pitch changing means 3 is configured to have the interlocking member 3a and the cam follower 3b (cam member), but it is sufficient if the pitch changing means 3 is housed in the housing space of the rotating member 1, and for example, another It may be replaced with a link mechanism or the like. Further, although the present embodiment is applied to an unmanned aerial vehicle, a drone, or the like, it may be applied to a propeller device such as an aircraft or a ship that uses an internal combustion engine (engine) as a drive source.

回転部材は、内部に収容空間が形成されるとともに、当該収容空間にピッチ変更手段が配設されたプロペラ装置であれば、外観形状が異なるもの或いは他の機能が付加されたもの等にも適用することができる。   The rotating member is applied to a propeller device having a housing space formed therein and a pitch changing means arranged in the housing space, which has a different external shape or is provided with other functions. can do.

１ 回転部材
１ａ ホルダ
１ｂ ケース
２ 羽根部材
２ａ 連結部
３ ピッチ変更手段
３ａ 連動部材
３ａａ カム溝
３ｂ カムフォロア（カム部材）
４ リニアアクチュエータ（作動アクチュエータ）
４ａ 作動軸
５ 作動部材
６ 継ぎ手部材
６ａ ハウジング
７ サーボモータ（作動アクチュエータ）
７ａ アーム部材（変換手段）
７ｂ カムフォロア（変換手段）
Ｍ モータ（駆動源）
Ｐ１ 連結ピン
Ｐ２ 連結ピン
Ｂ１ ベアリング
Ｂ２ ベアリング
ｈ１ 支持柱
ｈ２ 支持台
ｈ３ 支持台 DESCRIPTION OF SYMBOLS 1 rotating member 1a holder 1b case 2 blade member 2a connecting part 3 pitch changing means 3a interlocking member 3aa cam groove 3b cam follower (cam member)
4 Linear actuator (actuator)
4a operating shaft 5 operating member 6 joint member 6a housing 7 servo motor (actuating actuator)
7a Arm member (converting means)
7b Cam follower (conversion means)
M motor (drive source)
P1 connection pin P2 connection pin B1 bearing B2 bearing h1 support column h2 support base h3 support base

Claims (10)

駆動源の出力軸と連結されて回転駆動可能な回転部材と、
前記回転部材に取り付けられた複数の羽根部材と、
前記羽根部材の長手方向に延びる軸を中心としてそれぞれ回転させることにより当該羽根部材のピッチを変更するピッチ変更手段と、
前記ピッチ変更手段を作動させて前記羽根部材のピッチを任意のタイミングで変更させる作動アクチュエータと、
前記作動アクチュエータの駆動によって変位して前記ピッチ変更手段を作動させる作動部材と、
を具備し、前記駆動源の駆動によって前記回転部材と共に前記羽根部材を回転して推力を得るとともに、前記作動アクチュエータの駆動力を前記作動部材を介して前記ピッチ変更手段に伝達させて前記羽根部材のピッチを変更し得るプロペラ装置であって、
前記回転部材は、内部に収容空間が形成されるとともに、当該収容空間に前記ピッチ変更手段が配設されたことを特徴とするプロペラ装置。 A rotary member that is connected to the output shaft of the drive source and can be driven to rotate;
A plurality of blade members attached to the rotating member,
Pitch changing means for changing the pitch of the blade member by rotating the blade member about an axis extending in the longitudinal direction of the blade member,
An actuating actuator that actuates the pitch changing means to change the pitch of the blade members at an arbitrary timing,
An actuating member which is displaced by driving the actuating actuator to actuate the pitch changing means;
The blade member is rotated together with the rotating member by the drive of the drive source to obtain a thrust force, and the driving force of the actuating actuator is transmitted to the pitch changing means via the actuating member to produce the vane member. A propeller device capable of changing the pitch of
A propeller device, wherein the rotating member has an accommodation space formed therein, and the pitch changing means is disposed in the accommodation space. 前記ピッチ変更手段及び前記作動アクチュエータは、前記駆動源を挟んだ位置にそれぞれ配設されるとともに、前記作動部材は、前記駆動源を貫通して取り付けられたプッシュロッドから成ることを特徴とする請求項１記載のプロペラ装置。   The pitch changing means and the actuating actuator are respectively arranged at positions sandwiching the drive source, and the actuating member is formed of a push rod attached to penetrate the drive source. Item 1. The propeller device according to item 1. 前記駆動源の出力軸は、当該駆動源を貫通したパイプ状部材から成り、前記作動部材は、当該出力軸に挿通して配設されたことを特徴とする請求項２記載のプロペラ装置。   The propeller device according to claim 2, wherein the output shaft of the drive source is formed of a pipe-shaped member penetrating the drive source, and the actuating member is disposed so as to be inserted through the output shaft. 前記作動アクチュエータ及び作動部材の間に介在し、前記作動部材の回転力が前記作動アクチュエータに伝達しない状態を維持しつつ前記作動アクチュエータの駆動力を前記作動部材に伝達して前記ピッチ変更手段を作動させ得る継ぎ手部材を具備したことを特徴とする請求項２又は請求項３記載のプロペラ装置。   It is interposed between the actuating actuator and the actuating member, and the driving force of the actuating actuator is transmitted to the actuating member while the rotational force of the actuating member is not transmitted to the actuating actuator to operate the pitch changing means. The propeller device according to claim 2 or 3, further comprising a joint member that can be made. 前記継ぎ手部材に軸受を有することを特徴とする請求項４記載のプロペラ装置。   The propeller device according to claim 4, wherein the joint member has a bearing. 前記駆動源は、モータから成るとともに、前記作動部材は、非磁性体材料から成ることを特徴とする請求項１〜５の何れか１つに記載のプロペラ装置。   The propeller device according to claim 1, wherein the drive source is a motor, and the actuating member is a non-magnetic material. 前記ピッチ変更手段は、前記作動部材の変位に伴って移動する連動部材と、前記連動部材の移動を前記羽根部材の回転力に変換してピッチを変更させるカム部材とを有することを特徴とする請求項１〜６の何れか１つに記載のプロペラ装置。   The pitch changing means includes an interlocking member that moves according to the displacement of the actuating member, and a cam member that converts the movement of the interlocking member into a rotational force of the blade member to change the pitch. The propeller device according to any one of claims 1 to 6. 前記カム部材は、前記連動部材に形成されたカム溝に沿って変位可能なカムフォロアあるいは転動体から成ることを特徴とする請求項７記載のプロペラ装置。   8. The propeller device according to claim 7, wherein the cam member is composed of a cam follower or a rolling element that is displaceable along a cam groove formed in the interlocking member. 前記作動アクチュエータは、前記作動部材のスライド方向に駆動力を伝達可能なリニアアクチュエータから成ることを特徴とする請求項１〜８の何れか１つに記載のプロペラ装置。   The propeller device according to claim 1, wherein the actuating actuator comprises a linear actuator capable of transmitting a driving force in a sliding direction of the actuating member. 前記作動アクチュエータは、サーボモータから成り、当該サーボモータの駆動による回転力を前記作動部材のスライド方向に変換して伝達可能な変換手段を具備したことを特徴とする請求項１〜８の何れか１つに記載のプロペラ装置。   9. The actuating actuator comprises a servomotor, and is provided with a converting means capable of converting a rotational force generated by driving the servomotor into a sliding direction of the operating member and transmitting the same. The propeller device according to one.
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