JP6607480B1 - Rotorcraft - Google Patents

Rotorcraft Download PDF

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JP6607480B1
JP6607480B1 JP2019541468A JP2019541468A JP6607480B1 JP 6607480 B1 JP6607480 B1 JP 6607480B1 JP 2019541468 A JP2019541468 A JP 2019541468A JP 2019541468 A JP2019541468 A JP 2019541468A JP 6607480 B1 JP6607480 B1 JP 6607480B1
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rotary wing
center
wing machine
rotary
traveling direction
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JPWO2020035900A1 (en
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鈴木　陽一
陽一 鈴木
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Aeronext Inc
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Aeronext Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/296—Rotors with variable spatial positions relative to the UAV body
    • B64U30/297—Tilting rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • 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
    • B64U50/19—Propulsion using electrically powered motors

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

Abstract

【課題】飛行効率を向上し得る飛行体を提供すること。【解決手段】接続部１６の中心Ｃは、回転翼機１０の機体に発生する揚力の中心Ｕと一致している。接続部１６の中心Ｃとは、接続部１６に対する支持棒２１及び第１搭載部の重力の作用点である。揚力の中心Ｕとは、回転翼機１０に対する揚力の作用点のことであって、接続部１６における回転中心である。このように回転翼機１０に発生する揚力の中心Ｕが接続部の中心Ｃに位置しているので、回転翼機１０の機体が傾いた場合であっても、接続部の中心Ｃを中心にして支持棒２１及び第１搭載部が回転するから、揚力の中心Ｕの周りには、カメラ２８などの重量物による回転モーメントが生じない。これにより、複数の回転翼を有する回転翼機が水平方向に進行する場合に、進行方向前方及び後方の各回転翼の回転数の差を従来よりも小さくすることが可能となる。【選択図】図２A flying object capable of improving flight efficiency is provided. A center C of a connecting portion 16 coincides with a center U of lift generated in a body of a rotary wing aircraft 10. The center C of the connecting portion 16 is the point of gravity of the support rod 21 and the first mounting portion with respect to the connecting portion 16. The center of lift U is the point of action of lift on the rotary wing machine 10 and is the center of rotation at the connecting portion 16. Thus, since the center U of the lift generated in the rotary wing machine 10 is located at the center C of the connection part, even if the body of the rotary wing machine 10 is tilted, the center C of the connection part is centered. Thus, since the support bar 21 and the first mounting portion rotate, a rotational moment due to a heavy object such as the camera 28 does not occur around the center of lift U. As a result, when a rotary wing machine having a plurality of rotary blades travels in the horizontal direction, it is possible to make the difference in rotational speed between the front and rear rotary blades in the traveling direction smaller than before. [Selection] Figure 2

Description

本発明は、本発明は、複数の回転翼を有する回転翼機に関する。   The present invention relates to a rotary wing machine having a plurality of rotary blades.

例えばスポーツやコンサートといった各種イベント、或いはビルやマンションといった建築設備の調査等において、ドローン又はマルチコプターと呼ばれる回転翼機を用いた空撮が行われることがある。この種の回転翼機は空撮用途以外にも、荷物の運搬などの分野にも応用されつつある。特許文献１には、複数の回転翼を有する回転翼機と、回転翼機の中心部から鉛直下方に設置される支持部と、支持部の鉛直下方の端部に設置される搭載部と、搭載部の底部に接続される繋留ロープからなり、搭載部の鉛直下方の端部に繋留ロープの一端が接続され、繋留ロープの他端が地上に係止される空撮用回転翼機システムが開示されている。   For example, in various events such as sports and concerts, or in surveys of building equipment such as buildings and apartments, aerial photography using a rotary wing machine called a drone or multicopter may be performed. This kind of rotary wing machine is being applied not only to aerial photography but also to other fields such as luggage transportation. In Patent Document 1, a rotary wing machine having a plurality of rotary blades, a support unit installed vertically downward from the center of the rotary blade machine, a mounting unit installed at an end part vertically below the support unit, An aerial imaging rotary wing machine system consisting of a tethered rope connected to the bottom of the mounting part, one end of the tethering rope connected to the vertically lower end of the mounting part, and the other end of the tethering rope locked to the ground It is disclosed.

特開２０１３−７９０４３号公報JP 2013-79043 A

回転翼機１は、図１３に示すような姿勢で、各回転翼Ｐを同じ回転数（正確には単位時間当たりの回転数、以下において同じ）で回転させて上方に浮上する。このとき、例えば回転数レベルの上限を１０と仮定すると、上昇時の回転数レベルを６（図中括弧書きの数字、以下において同じ）とする。回転翼機１は所望の高度に至ると、各回転翼Ｐによる揚力と機体にかかる重力とが釣り合う程度に回転数を下げることで、空中停止（ホバリング）する。このとき回転数レベルを例えば５とする。回転翼機１は、水平方向に移動する場合には、進行方向に向かって前方にある回転翼Ｐの回転数を下げ（例えば回転数レベル３）、進行方向に向かって後方にある回転翼Ｐの回転数を上げる（例えば回転数レベル７）。これにより、図１４に示すように、回転翼機１は、進行方向に向って前下がりに傾いた姿勢を維持したまま、矢印ａ方向に移動する。回転翼機１の機体が傾いているときには、例えばカメラなどの重量物Ｇによる回転モーメントＭが揚力の中心Ｕの周りに生じるため、この回転モーメントＭを打ち消して同じ姿勢を維持するべく、進行方向前方にある回転翼Ｐよりも後方にある回転翼Ｐの回転数を多くする必要がある。   In the attitude shown in FIG. 13, the rotary wing machine 1 rotates each rotary wing P at the same rotational speed (precisely, the rotational speed per unit time, the same applies hereinafter) and floats upward. At this time, if the upper limit of the rotational speed level is assumed to be 10, for example, the rotational speed level at the time of ascent is 6 (numbers in parentheses in the figure, the same applies hereinafter). When the rotary wing machine 1 reaches a desired altitude, the rotary wing machine 1 stops in the air (hovering) by lowering the rotational speed to such an extent that the lift by each rotary wing P and the gravity applied to the machine body are balanced. At this time, the rotational speed level is set to 5, for example. When the rotary wing machine 1 moves in the horizontal direction, the rotational speed of the rotary blade P located forward in the traveling direction is decreased (for example, the rotational speed level 3), and the rotary blade P located rearward in the traveling direction. Is increased (for example, a rotational speed level 7). Thereby, as shown in FIG. 14, the rotary wing machine 1 moves in the direction of the arrow a while maintaining a posture inclined forward and downward toward the traveling direction. When the body of the rotary wing aircraft 1 is tilted, for example, a rotational moment M due to a heavy object G such as a camera is generated around the center U of the lift force. Therefore, in order to cancel the rotational moment M and maintain the same posture, It is necessary to increase the rotational speed of the rotor blade P located behind the rotor blade P located forward.

特許文献１（特に図７、８）においては、関節部材Ｒを設けることによって、回転翼機１の姿勢に関わらず重量物Ｇが回転翼機１の鉛直下方に位置するように調整可能な仕組みが開示されている。しかし、このような仕組みを採用したとしても、図１４に示すように、重量物Ｇを支持する関節部材Ｒと揚力の中心Ｕとが完全に一致しているわけではないため、やはり揚力の中心Ｕ周りの回転モーメントＭが少なからず生じてしまう。よって、例えば進行方向前方にある回転翼Ｐの回転数レベルを４にして進行方向後方にある回転翼Ｐの回転数レベル６にするといったように、両回転翼の回転数に多少の差を設けなければならない。   In Patent Document 1 (particularly, FIGS. 7 and 8), by providing the joint member R, a mechanism capable of adjusting the heavy object G to be positioned vertically below the rotary wing machine 1 regardless of the attitude of the rotary wing machine 1. Is disclosed. However, even if such a mechanism is adopted, as shown in FIG. 14, the joint member R that supports the heavy load G and the center U of lift are not completely coincident with each other. Not a little rotational moment M around U occurs. Therefore, for example, the rotational speed level of the rotor blade P in the forward direction is set to 4 and the rotational speed level 6 of the rotor blade P in the rearward direction of the travel is set to 6 so that the rotational speed of both rotor blades is slightly different. There must be.

このように回転翼機１が水平方向に進行するために進行方向前方及び後方の回転翼Ｐの回転数に差を設けた場合には、水平方向に移動する期間にわたって、進行方向後方の回転翼Ｐの出力を高い状態で維持しなければならないため、例えばモータの発熱等による故障が発生するなど、各種の問題が考えられる。   In this way, when the rotor blade 1 travels in the horizontal direction, if there is a difference in the rotational speed between the front and rear rotor blades P in the traveling direction, the rotor blades in the rearward traveling direction over the period of movement in the horizontal direction. Since the output of P must be maintained in a high state, various problems such as a failure due to heat generation of the motor can be considered.

そこで、本発明は、複数の回転翼を有する回転翼機が水平方向を含む方向に進行する場合に、進行方向前方及び後方の各回転翼の回転数の差を従来よりも小さくすることを目的とする。   Therefore, the present invention aims to reduce the difference in the rotational speed between the front and rear rotor blades in the traveling direction when a rotorcraft having a plurality of rotor blades travels in a direction including the horizontal direction. And

本発明によれば、飛行部と、本体部と、前記飛行部及び前記本体部を所定の範囲で搖動可能に接続する接続部とを備えた回転翼機であって、
前記飛行部は、複数の回転翼と、前記複数の回転翼を支持するアーム部とを備えており、
前記本体部は、上下方向に延びる棒状部と、当該棒状部の上端及び下端に夫々設けられた第１搭載部及び第２搭載部とを備えており、
前記接続部は、進行方向と直交する水平軸周りに前記本体部を搖動可能にする第１接続部と、前記水平軸と直交し且つ前記水平軸に沿ってみた場合に前記進行方向と所定の仰角をなす斜交軸周りに前記支持棒を搖動可能にする第２接続部とを有している、
回転翼機が得られる。According to the present invention, there is provided a rotary wing aircraft including a flying part, a main body part, and a connection part that slidably connects the flying part and the main body part within a predetermined range,
The flying unit includes a plurality of rotor blades and an arm unit that supports the plurality of rotor blades,
The main body includes a rod-shaped portion extending in the vertical direction, and a first mounting portion and a second mounting portion respectively provided at an upper end and a lower end of the rod-shaped portion,
The connecting portion includes a first connecting portion that enables the body portion to swing around a horizontal axis that is orthogonal to the traveling direction, and a predetermined direction that is perpendicular to the horizontal axis and the traveling direction when viewed along the horizontal axis. A second connecting portion that enables the support rod to swing around an oblique axis that forms an elevation angle;
A rotorcraft is obtained.

本発明の一実施形態に係る回転翼機の構成を示す斜視図。The perspective view which shows the structure of the rotary wing machine which concerns on one Embodiment of this invention. 同実施形態に係る回転翼機の側面図。The side view of the rotary wing aircraft which concerns on the same embodiment. 同実施形態に係る回転翼機の平面図。The top view of the rotary wing aircraft concerning the embodiment. 揚力の中心を説明する概念図。The conceptual diagram explaining the center of a lift. 同実施形態に係る回転翼機の姿勢変化を示す側面図。The side view which shows the attitude | position change of the rotary wing aircraft which concerns on the same embodiment. 同実施形態に係る回転翼機における力学的な関係を説明する概念図。The conceptual diagram explaining the dynamic relationship in the rotary wing aircraft which concern on the same embodiment. 本発明の変形例に係る回転翼機の側面図。The side view of the rotary wing aircraft which concerns on the modification of this invention. 同変形例に係る回転翼機の姿勢変化を示す側面図。The side view which shows the attitude | position change of the rotary wing aircraft which concerns on the modification. 本発明の別の変形例に係る回転翼機の構成を示す斜視図。The perspective view which shows the structure of the rotary wing aircraft which concerns on another modification of this invention. 本発明のさらに別の変形例に係る回転翼機の斜視図。The perspective view of the rotary wing machine which concerns on another modification of this invention. 同変形例に係る回転翼機の平面図。The top view of the rotary wing aircraft which concerns on the modification. 同変形例に係る回転翼機の側面図。The side view of the rotary wing aircraft concerning the modification. 従来の回転翼機の側面図。The side view of the conventional rotary wing aircraft. 従来の回転翼機が水平移動するときの側面図。The side view when the conventional rotary wing machine moves horizontally. 関節部材を有する従来の回転翼機が水平移動するときの側面図。The side view when the conventional rotary wing machine which has a joint member moves horizontally. 本発明の第２の実施の形態による回転翼機を示す図である。It is a figure which shows the rotary wing aircraft by the 2nd Embodiment of this invention. 本発明の第２の実施の形態による回転翼機を示す他の図である。It is another figure which shows the rotary wing aircraft by the 2nd Embodiment of this invention. 本発明の第２の実施の形態による回転翼機を示す他の図である。It is another figure which shows the rotary wing aircraft by the 2nd Embodiment of this invention. 本発明の第２の実施の形態による回転翼機を示す変形例です。It is a modification which shows the rotary wing machine by the 2nd Embodiment of this invention.

本発明による回転翼機は以下の構成を備える。
［構成１］
飛行部と、本体部と、前記飛行部及び前記本体部を所定の範囲で搖動可能に接続する接続部とを備えた回転翼機であって、
前記飛行部は、複数の回転翼と、前記複数の回転翼を支持するアーム部とを備えており、
前記本体部は、上下方向に延びる棒状部と、当該棒状部の上端及び下端に夫々設けられた第１搭載部及び第２搭載部とを備えており、
前記接続部は、進行方向と直交する水平軸周りに前記本体部を搖動可能にする第１接続部と、前記水平軸と直交し且つ前記水平軸に沿ってみた場合に前記進行方向と所定の仰角をなす斜交軸周りに前記本体部を搖動可能にする第２接続部とを有している、
回転翼機。
［構成１］
構成１に記載の回転翼機であって、
前記水平軸と前記斜交軸との交点は、前記複数の回転翼が回転することによって機体に発生する揚力の略中心位置にあることを特徴とする
回転翼機。
［構成２］
構成１に記載の回転翼機であって、
前記水平軸と前記斜交軸との交点は、前記本体部の重心にあることを特徴とする
回転翼機。
［構成３］
構成１乃至構成３のいずれかに記載の回転翼機であって、
前記第１搭載部の位置は、前記本体部から後方にずれており、
前記第２搭載部の位置は、前記本体部から前方にずれている、
回転翼機。
［構成４］
構成１乃至構成４のいずれかに記載の回転翼機であって、
前記飛行部を進行方向に傾けるようにして進行方向に移動し
前記仰角は、少なくとも進行方向への飛行時に前記斜交軸が水平となり得る角度である、
回転翼機。The rotorcraft according to the present invention has the following configuration.
[Configuration 1]
A rotary wing aircraft including a flying part, a main body part, and a connection part that connects the flying part and the main body part so as to be capable of sliding in a predetermined range,
The flying unit includes a plurality of rotor blades and an arm unit that supports the plurality of rotor blades,
The main body includes a rod-shaped portion extending in the vertical direction, and a first mounting portion and a second mounting portion respectively provided at an upper end and a lower end of the rod-shaped portion,
The connecting portion includes a first connecting portion that enables the body portion to swing around a horizontal axis that is orthogonal to the traveling direction, and a predetermined direction that is perpendicular to the horizontal axis and the traveling direction when viewed along the horizontal axis. A second connecting portion that enables the main body portion to swing around an oblique axis that forms an elevation angle;
Rotorcraft.
[Configuration 1]
The rotary wing machine according to Configuration 1,
The intersection of the horizontal axis and the oblique axis is at a substantially central position of lift generated in the fuselage by the rotation of the plurality of rotor blades.
[Configuration 2]
The rotary wing machine according to Configuration 1,
An intersection of the horizontal axis and the oblique axis is at the center of gravity of the main body.
[Configuration 3]
The rotorcraft according to any one of Configurations 1 to 3,
The position of the first mounting part is shifted rearward from the main body part,
The position of the second mounting part is shifted forward from the main body part,
Rotorcraft.
[Configuration 4]
The rotorcraft according to any one of Configurations 1 to 4,
The flight part is moved in the traveling direction so as to be tilted in the traveling direction, and the elevation angle is an angle at which the oblique axis can be horizontal when flying in at least the traveling direction.
Rotorcraft.

（第１の実施の形態）
図１は、本発明の第１の実施形態に係る回転翼機１０の構成を示す斜視図であり、図２は、回転翼機１０を図１における矢印Ｘ方向から見たときの側面図であり、図３は、回転翼機１０を図１における矢印Ｙ方向から見たときの平面図である。本実施形態では、複数の回転翼を有する回転翼機として、４ロータータイプのマルチコプターを例に挙げて説明する。(First embodiment)
FIG. 1 is a perspective view showing a configuration of a rotary wing machine 10 according to the first embodiment of the present invention, and FIG. 2 is a side view of the rotary wing machine 10 when viewed from the direction of arrow X in FIG. FIG. 3 is a plan view when the rotary wing machine 10 is viewed from the direction of arrow Y in FIG. In the present embodiment, a four-rotor type multicopter will be described as an example of a rotorcraft having a plurality of rotor blades.

回転翼機１０の中心部１５は、上方から見たときに回転翼機１０の中心に設けられている。中心部１５の側面からは、４本のアーム部１４Ａ、１４Ｂ、１４Ｃ、１４Ｄが等間隔となるように、つまり隣り合う各アーム部の長手方向がなす角度が９０度となるように、四方向に延伸している。アーム部１４Ａ、１４Ｂ、１４Ｃ、１４Ｄはそれぞれ、回転翼部１１Ａ、１１Ｂ、１１Ｃ、１１Ｄを支持する手段である。アーム部１４Ａ及び回転翼部１１Ａ、アーム部１４Ｂ及び回転翼部１１Ｂ、アーム部１４Ｃ及び回転翼部１１Ｃ、アーム部１４Ｄ及び回転翼部１１Ｄは、いずれも同じ構成であるため、以下ではアーム部１４Ａ及び回転翼部１１Ａの構成を例に挙げて説明する。なお、本実施形態では、アーム部１４Ａ、１４Ｂ、１４Ｃ、１４Ｄは、それぞれ回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄと干渉しないように、それらの可動範囲を避けるようにして、下に凸の屈曲した形状になっているが、回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄと干渉しないのであれば必ずしも図１に例示した形状にする必要はない。   The central portion 15 of the rotary wing machine 10 is provided at the center of the rotary wing machine 10 when viewed from above. From the side surface of the central portion 15, the four arm portions 14A, 14B, 14C, 14D are arranged in four directions so that the angles formed by the longitudinal directions of the adjacent arm portions are 90 degrees. Is stretched. The arm portions 14A, 14B, 14C, and 14D are means for supporting the rotary blade portions 11A, 11B, 11C, and 11D, respectively. Since the arm part 14A and the rotary blade part 11A, the arm part 14B and the rotary blade part 11B, the arm part 14C and the rotary blade part 11C, the arm part 14D and the rotary blade part 11D all have the same configuration, the arm part 14A will be described below. The configuration of the rotary blade portion 11A will be described as an example. In the present embodiment, the arm portions 14A, 14B, 14C, and 14D are bent downward so as to avoid their movable ranges so as not to interfere with the rotor blades 12A, 12B, 12C, and 12D, respectively. Although it has a shape, the shape illustrated in FIG. 1 is not necessarily required as long as it does not interfere with the rotor blades 12A, 12B, 12C, and 12D.

アーム部１４Ａの中心部１５から遠いほうの先端部分には、回転翼部１１Ａが取り付けられている。回転翼部１１Ａは、回転翼１２Ａ及び動力部１３Ａを備えている。回転翼１２Ａは、動力部１３Ａからの出力を回転翼機１０の推進力へと変換するための手段である。なお、図に例示した回転翼１２Ａは２枚羽根であるが、３枚以上の羽を有するものであってもよい。動力部１３Ａは、例えば電気モータ又は内燃エンジンなどの動力発生手段である。本実施形態では、動力部１３Ａ、１３Ｂ、１３Ｃ、１３Ｄとして、回転方向が異なる電気モータ（右回転モータ及び左回転モータ）を２つずつ用いるものとし、動力部１３Ａ、１３Ｃが左回転モータであり、動力部１３Ｂ、１３Ｄが右回転モータである。動力部１３Ａはアーム部１４Ａに固定されており、動力部１３Ａの回転軸は回転翼１２Ａに固定されている。図３に示すように、各回転翼部１１Ａ、１１Ｂ、１１Ｃ、１１Ｄの回転軸は、上方から見たときに中心部１５を中心とする同心円上に等間隔に配置されている。   A rotating blade portion 11A is attached to a tip portion of the arm portion 14A far from the center portion 15. The rotary blade portion 11A includes a rotary blade 12A and a power portion 13A. The rotary blade 12 </ b> A is a means for converting the output from the power unit 13 </ b> A into the propulsive force of the rotary blade machine 10. In addition, although the rotary blade 12A illustrated in the figure has two blades, it may have three or more blades. The power unit 13A is power generation means such as an electric motor or an internal combustion engine. In this embodiment, two electric motors (right rotation motor and left rotation motor) having different rotation directions are used as the power units 13A, 13B, 13C, and 13D, and the power units 13A and 13C are left rotation motors. The power units 13B and 13D are clockwise motors. The power unit 13A is fixed to the arm unit 14A, and the rotating shaft of the power unit 13A is fixed to the rotary blade 12A. As shown in FIG. 3, the rotary shafts of the rotary blade portions 11 </ b> A, 11 </ b> B, 11 </ b> C, and 11 </ b> D are arranged at equal intervals on a concentric circle centered on the central portion 15 when viewed from above.

第１搭載部２５は、物体を搭載する手段であり、例えば空撮を行うためのカメラ２８と、そのカメラの向きを変える駆動機構（図示せず）と、カメラ２８及び駆動機構を制御する制御装置（図示せず）等の物体を搭載している。制御装置によって、カメラ２８の撮影動作や、カメラ２８を左右に回転させるパン動作或いはカメラ２８を上下に傾けるチルト動作などが制御される。さらに、回転翼機１０においては、動力部１３Ａ、１３Ｂ、１３Ｃ、１３Ｄ、カメラ２８及び制御装置などを駆動させるための電源と、ラジオコントロール用の受信機と、回転翼機１０の姿勢を把握するための水平器など（いずれも図示せず）も必要に応じて搭載されるが、これらは第１搭載部２５に搭載されていてもよいし、前述した中心部１５に設けられたスペースに搭載されていてもよい。また、制御装置もこの中心部１５に設けられたスペースに搭載されていてもよい。   The first mounting unit 25 is a means for mounting an object. For example, a camera 28 for performing aerial photography, a drive mechanism (not shown) that changes the orientation of the camera, and a control that controls the camera 28 and the drive mechanism. An object such as a device (not shown) is mounted. The control device controls a photographing operation of the camera 28, a panning operation for rotating the camera 28 left and right, a tilting operation for tilting the camera 28 up and down, and the like. Further, in the rotary wing machine 10, a power source for driving the power units 13 </ b> A, 13 </ b> B, 13 </ b> C, 13 </ b> D, the camera 28 and the control device, a receiver for radio control, and the attitude of the rotary wing machine 10 are grasped. For example, a leveling device (not shown) is mounted as necessary, but these may be mounted on the first mounting portion 25 or mounted in the space provided in the central portion 15 described above. May be. The control device may also be mounted in a space provided in the central portion 15.

中心部１５の下面には接続部１６が固定されている。接続部１６は、第１搭載部２５が回転翼機１０の機体に対して所定の範囲で移動可能となるように、支持棒２１及び中心部１５を介して第１搭載部２５をアーム部１４Ａ、１４Ｂ、１４Ｃ、１４Ｄに接続する手段である。接続部１６は、例えばボールジョイントなどの関節機構であり、第１搭載部２５及び支持棒２１を回転可能に支持している。本実施形態では、接続部１６は、回転翼機１０の下方のほぼ半円球の範囲内であって、アーム部１４Ａ、１４Ｂ、１４Ｃ、１４Ｄに接触しない範囲内で、第１搭載部２５及び支持棒２１が回転可能となるように、これらを支持している。支持棒２１の上端には接続部１６が固定されており、その下端には第１搭載部２５が固定されている。支持棒２１及び第１搭載部２５は、回転翼機１０の姿勢に関わらず、重力の作用によって回転翼機１０から鉛直方向下方に懸垂された状態に維持される。   A connecting portion 16 is fixed to the lower surface of the center portion 15. The connecting portion 16 connects the first mounting portion 25 to the arm portion 14A via the support rod 21 and the central portion 15 so that the first mounting portion 25 can move within a predetermined range with respect to the body of the rotary wing aircraft 10. , 14B, 14C, 14D. The connection part 16 is a joint mechanism such as a ball joint, for example, and rotatably supports the first mounting part 25 and the support rod 21. In the present embodiment, the connection portion 16 is within a substantially semispherical area below the rotary wing machine 10 and does not contact the arm portions 14A, 14B, 14C, and 14D, and the first mounting portion 25 and These are supported so that the support rod 21 can rotate. The connecting portion 16 is fixed to the upper end of the support bar 21, and the first mounting portion 25 is fixed to the lower end thereof. Regardless of the attitude of the rotary wing machine 10, the support rod 21 and the first mounting portion 25 are maintained in a state suspended from the rotary wing machine 10 in the vertical direction by the action of gravity.

操縦者は、操作部を備えたラジオコントロール用の送信機を操作して、回転翼機１０の操縦を行う。回転翼機１０の制御装置は、送信機から送信された無線信号を受信機が受信すると、その無線信号に基づいて動力部１３Ａ、１３Ｂ、１３Ｃ、１３Ｄやカメラ２８等の、回転翼機１０の各部の制御を行う。   The pilot operates the radio wing aircraft 10 by operating a radio control transmitter having an operation unit. When the receiver receives the radio signal transmitted from the transmitter, the control device of the rotary wing machine 10 includes the power units 13A, 13B, 13C, 13D, the camera 28, and the like based on the radio signal. Control each part.

ここで、図４に示すように、接続部１６の中心Ｃは、４つの回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄが回転することによって回転翼機１０の機体に発生する揚力の中心Ｕと一致している。ここで、接続部１６の中心Ｃとは、支持棒２１、第１搭載部２５及びその第１搭載部２５に搭載された物体にかかる重力の、接続部１６に対する作用点であって、接続部１６における回転中心である。また、揚力の中心Ｕとは、回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転によって発生する揚力の、回転翼機１０に対する作用点のことである。より具体的に説明すると、各回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの短手方向の幅をｄとしたとき、それぞれの回転翼の幅方向における上端からｄ／ｎの位置に、各回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄによる揚力が作用する（ｎは例えば３）。そして、各回転翼翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの幅方向における上端からｄ／ｎの位置を通る平面上であって、且つ、図３に示した各回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転軸が通る同心円の中心が、揚力の中心Ｕである。   Here, as shown in FIG. 4, the center C of the connecting portion 16 coincides with the center U of the lift generated in the body of the rotary wing machine 10 by the rotation of the four rotary wings 12A, 12B, 12C, 12D. ing. Here, the center C of the connection portion 16 is an action point of the gravity applied to the support rod 21, the first mounting portion 25 and the object mounted on the first mounting portion 25 with respect to the connection portion 16. 16 is the center of rotation. The center of lift U is the point of action of the lift generated by the rotation of the rotor blades 12A, 12B, 12C, and 12D on the rotorcraft 10. More specifically, when the width in the short direction of each rotor blade 12A, 12B, 12C, 12D is d, each rotor blade 12A is positioned at a position d / n from the upper end in the width direction of each rotor blade. , 12B, 12C, and 12D act on the lift (n is 3 for example). Then, the rotary blades 12A, 12B, 12C, and 12D are on a plane that passes through the position d / n from the upper end in the width direction of the rotary blades 12A, 12B, 12C, and 12D, and the rotary blades 12A, 12B, 12C, and 12D shown in FIG. The center of the concentric circle through which the axis passes is the center of lift U.

このように回転翼機１０の機体に発生する揚力の中心Ｕが、重量物（支持棒２１、第１搭載部２５、及びその第１搭載部２５に搭載された物体）の重力の作用点であって且つ回転中心である接続部１６に位置しているので、回転翼機１０の機体が傾いた場合であっても、揚力の中心Ｕに対しては重量物による鉛直方向下方の重力が作用するだけであって、揚力の中心Ｕの周りには重量物の重力による回転モーメントが生じない。   Thus, the center of lift U generated in the airframe of the rotary wing aircraft 10 is the point of gravity of the heavy object (the support rod 21, the first mounting portion 25, and the object mounted on the first mounting portion 25). Since it is located at the connection portion 16 that is the center of rotation, even if the body of the rotary wing aircraft 10 is tilted, gravity in the vertical direction due to heavy objects acts on the center U of lift. Therefore, the rotational moment due to the gravity of the heavy object does not occur around the center of lift U.

次に、図５を用いて、回転翼機１０の姿勢の変化について説明する。操縦者は送信機の操作部を用いて、回転翼機１０を上昇させる操作を行うと、この操作に応じた制御装置の制御によって、動力部１３Ａ、１３Ｂ、１３Ｃ、１３Ｄの回転数が増加し、動力部１３Ａ、１３Ｂ、１３Ｃ、１３Ｄに取り付けられた回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転数も増加する。これにより、回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄは回転翼機１０の上昇に必要な揚力を徐々に生じさせる。揚力が回転翼機１０にかかる重力を超えると、図５（Ａ）に示すように、回転翼機１０は空中に浮き始め、矢印Ａ方向に浮上する。このとき、例えば回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転数のレベルの上限を１０と仮定すると、この上昇時における各回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転数レベルは例えば６であり、いずれも同じ回転数である。   Next, changes in the attitude of the rotary wing machine 10 will be described with reference to FIG. When the operator performs an operation of raising the rotary wing aircraft 10 using the operation unit of the transmitter, the number of rotations of the power units 13A, 13B, 13C, and 13D is increased by the control of the control device according to this operation. The rotational speeds of the rotor blades 12A, 12B, 12C, and 12D attached to the power units 13A, 13B, 13C, and 13D also increase. As a result, the rotary blades 12A, 12B, 12C, and 12D gradually generate lift necessary for raising the rotary blade device 10. When the lift exceeds the gravity applied to the rotary wing machine 10, the rotary wing machine 10 starts to float in the air and floats in the direction of arrow A as shown in FIG. At this time, for example, assuming that the upper limit of the rotational speed level of the rotor blades 12A, 12B, 12C, and 12D is 10, the rotational speed level of each rotor blade 12A, 12B, 12C, and 12D at the time of the rise is, for example, 6, Both have the same rotation speed.

そして、回転翼機１０が所望の高度に到着すると、操縦者は送信機を操作して、回転翼機１０が空中停止（ホバリング）するように、回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転数を調整する。つまり、このときの回転数は、各回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転による揚力と回転翼機１０にかかる重力とが釣り合う程度の回転数であり、例えば回転数レベル５である。   When the rotary wing machine 10 arrives at a desired altitude, the operator operates the transmitter to rotate the rotary wing machines 12A, 12B, 12C, and 12D so that the rotary wing machine 10 stops in the air (hovering). Adjust. That is, the number of rotations at this time is a number of rotations such that the lift generated by the rotation of each of the rotor blades 12A, 12B, 12C, and 12D and the gravity applied to the rotorcraft 10 are balanced.

次に回転翼機１０が水平方向に移動する場合には、操縦者は送信機を操作して、進行方向に向かって後方にある回転翼１２Ｂ、１２Ｃの回転数を、進行方向に向かって前方にある回転翼１２Ａ、１２Ｄの回転数よりも多くする。このとき例えば、後方にある回転翼１２Ｂ、１２Ｃの回転数レベルを６とし、前方にある回転翼１２Ａ、１２Ｄの回転数レベルを４とする。これにより、後方にある回転翼１２Ｂ、１２Ｃによる揚力が前方にある回転翼１２Ａ、１２Ｄによる揚力に比べて大きくなり、回転翼１２Ｂ、１２Ｃの位置が回転翼１２Ａ、１２Ｄの位置よりも高くなる。よって、図５（Ｂ）に示すように、回転翼機１０の機体が進行方向に向かって前下がりに傾いた姿勢となる。   Next, when the rotary wing machine 10 moves in the horizontal direction, the operator operates the transmitter to set the rotational speed of the rotary wings 12B and 12C at the rear in the traveling direction to the front in the traveling direction. More than the rotational speed of the rotary blades 12A and 12D. At this time, for example, the rotational speed level of the rotor blades 12B and 12C at the rear is 6 and the rotational speed level of the rotor blades 12A and 12D at the front is 4. As a result, the lift by the rotor blades 12B and 12C at the rear is larger than the lift by the rotor blades 12A and 12D at the front, and the positions of the rotor blades 12B and 12C are higher than the positions of the rotor blades 12A and 12D. Therefore, as shown in FIG. 5 (B), the body of the rotary wing aircraft 10 is in a posture inclined forward and downward in the traveling direction.

このような姿勢になると直ちに操縦者は送信機を操作して、各回転翼Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転数を、所望の速度で水平方向に移動するような回転数に調整する。例えばこのときの各回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転数レベルをいずれも５とする。従来は、進行方向前方にある回転翼の回転数よりも進行方向後方にある回転翼の回転数を多くした状態でなければ、機体の姿勢を維持できず、水平移動が実現できなかったが、本実施形態では、各回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転数を同じにしたまま、図５（Ｃ）に示すように回転翼機１０を矢印Ｂ方向に移動させることができる。   As soon as this posture is reached, the operator operates the transmitter to adjust the rotational speed of each of the rotor blades A, 12B, 12C, 12D to a rotational speed that moves in the horizontal direction at a desired speed. For example, the rotational speed levels of the rotary blades 12A, 12B, 12C, and 12D at this time are all 5. Conventionally, unless the number of rotations of the rotor blade at the rear of the traveling direction is greater than the number of rotations of the rotor blade at the front of the traveling direction, the attitude of the aircraft cannot be maintained, and horizontal movement could not be realized, In the present embodiment, the rotary wing machine 10 can be moved in the arrow B direction as shown in FIG. 5C while keeping the rotational speeds of the rotary blades 12A, 12B, 12C, and 12D the same.

図５（Ｂ）、（Ｃ）に示すように、回転翼機１０の機体が進行方向に向って前下がりに傾いた姿勢になったとき、支持棒２１以下にある重量物の重力が接続部１６に作用するが、前述したとおり、この接続部１６に対する上記重力の作用点（接続部１６の中心Ｃ）は揚力の中心Ｕと一致している。このため、揚力の中心Ｕの周りには、支持棒２１以下の重量物の重力による回転モーメントは生じない。従って、各回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転数を同じにしたままでよい。   As shown in FIGS. 5 (B) and 5 (C), when the body of the rotary wing aircraft 10 is inclined in the forward direction toward the traveling direction, the gravity of the heavy load below the support rod 21 is connected to the connecting portion. However, as described above, the point of action of gravity with respect to the connecting portion 16 (the center C of the connecting portion 16) coincides with the center U of the lift force. For this reason, the rotational moment due to the gravity of the heavy object below the support rod 21 does not occur around the center of lift U. Accordingly, the rotational speeds of the rotary blades 12A, 12B, 12C, and 12D may remain the same.

このことを力学的に解説する。図６に示すように、揚力の中心Ｕ（接続部の中心Ｃ）に作用する力は、支持棒２１、第１搭載部２５及びカメラ２８等の搭載物による重力ｍｇと、回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転による揚力Ｆである。重力ｍｇの向きは鉛直方向下方であり、揚力Ｆの向きは、各回転翼１２Ａ、１２Ｂ、１２Ｃ、１２の幅方向における上端からｄ／ｎの位置を通る平面に直交する上方向である。揚力Ｆを、重力ｍｇの向きに平行な方向の分力Ｆ１と、重力ｍｇの向きに垂直な方向の分力Ｆ２とに分解すると、分力Ｆ１は重力ｍｇと釣り合い、分力Ｆ２は回転翼機１０の水平方向の推進力となる。この分力Ｆ１、Ｆ２によって、回転翼機１０は高度を維持したまま水平方向に移動する。   This is explained dynamically. As shown in FIG. 6, the force acting on the center of lift U (the center C of the connecting portion) is the gravity mg due to the load such as the support rod 21, the first mounting portion 25 and the camera 28, and the rotary blades 12 </ b> A and 12 </ b> B. , 12C, and 12D. The direction of gravity mg is downward in the vertical direction, and the direction of lift F is the upward direction orthogonal to the plane passing through the position of d / n from the upper end in the width direction of each of the rotor blades 12A, 12B, 12C, 12. When the lift force F is broken down into a component force F1 in a direction parallel to the direction of gravity mg and a component force F2 in a direction perpendicular to the direction of gravity mg, the component force F1 is balanced with the gravity mg, and the component force F2 is a rotor blade. This is the horizontal driving force of the machine 10. By the component forces F1 and F2, the rotary wing machine 10 moves in the horizontal direction while maintaining the altitude.

以上に説明したように本実施形態によれば、回転翼機１０が水平方向に進行する場合に、進行方向前方及び後方の各回転翼の回転数の差を従来よりも小さくすること、例えばその差をゼロにすることができる。   As described above, according to the present embodiment, when the rotary wing machine 10 travels in the horizontal direction, the difference between the rotational speeds of the front and rear rotors in the traveling direction is made smaller than in the past, for example The difference can be zero.

進行方向前方及び後方の各回転翼の回転数の差を従来よりも小さくすると、次のような利点がある。まず、回転翼機１０が水平方向に移動する期間にわたって、進行方向後方の回転翼の出力を進行方向前方の出力よりも相当に高い状態（従来生じていた回転モーメントＭを打ち消すだけの高出力）で維持する必要がないため、その動力部がモータであった場合には発熱等による故障の可能性が小さくなるし、また、従来よりも出力性能の低い、ダウングレードされた動力部を利用する余地が生まれる。このように動力部のダウングレードを図ることが許容されるならば、回転翼機の機体全体の軽量化やコストダウンも可能となり、その結果、燃費の向上や経済的なメリットを享受できる。   There are the following advantages when the difference in rotational speed between the front and rear rotor blades in the traveling direction is made smaller than in the prior art. First, over the period in which the rotary wing machine 10 moves in the horizontal direction, the output of the rotor blades behind the traveling direction is considerably higher than the output ahead of the traveling direction (high output that just cancels the rotational moment M generated in the past). Therefore, if the power unit is a motor, the possibility of failure due to heat generation is reduced, and a downgraded power unit with lower output performance than before is used. There is room for it. If it is permitted to downgrade the power unit in this way, the weight of the entire rotorcraft and the cost can be reduced, and as a result, fuel efficiency and economic merit can be enjoyed.

また、従来のように進行方向前方及び後方の各回転翼の回転数に差を設けた場合には、進行方向前方の回転翼の回転数は相対的に少なくなり、且つ、後方の動力部の出力は高くしたとしてもその出力の一部は回転モーメントの解消に充てなければならないので、結果として、全回転翼の平均的な回転数はあまり多くならない。このため、回転翼機の進行速度はあまり速くならないし、また、回転翼機によって搬送可能な重量物の重量もあまり重くはできない。これに対して、本実施形態によれば、動力部１３Ａ、１３Ｂ、１３Ｃ、１３Ｄの出力を回転モーメントの解消に充てずに済み、その出力を回転翼機の推進力に充てる割合を従来よりも高めることができる。よって、回転翼機の進行速度の向上に寄与するし、また、より重い荷物を搬送することも可能となる。   In addition, when there is a difference in the rotational speeds of the front and rear rotor blades in the traveling direction as in the prior art, the rotational speed of the rotor blades in the forward direction is relatively small, and the rear power unit Even if the output is increased, a part of the output must be devoted to eliminating the rotational moment. As a result, the average rotational speed of all the rotor blades does not increase so much. For this reason, the traveling speed of the rotary wing machine does not become very fast, and the weight of a heavy object that can be conveyed by the rotary wing machine cannot be too heavy. On the other hand, according to this embodiment, it is not necessary to use the output of the power units 13A, 13B, 13C, and 13D for eliminating the rotational moment, and the ratio of using the output for the propulsive force of the rotorcraft is higher than in the past. Can be increased. Therefore, it contributes to the improvement of the traveling speed of the rotary wing machine, and it is also possible to transport heavier loads.

また、回転翼機で荷物を運搬して目的地上方の空中でその荷物を切り離して目的地に落下させるような運搬用途の場合、従来の構成では、荷物を回転翼機から切り離した瞬間に、荷物の重量に相当する分だけ回転モーメントＭが一気に小さくなり、さらに、進行方向前方及び後方で回転数レベルに差があるので、回転翼機の機体の挙動が極めて不安定になる。これに対し、本実施形態によれば回転モーメントが生じておらず、また、進行方向前方及び後方で回転数レベルの差もないので、荷物を切り離したとしても回転モーメントが変化する余地はなく、上記のような問題は生じない。   In addition, in the case of transportation applications such as transporting luggage with a rotary wing machine and separating the luggage in the air above the destination and dropping it to the destination, in the conventional configuration, at the moment when the luggage is separated from the rotary wing machine, The rotational moment M is reduced at a stretch by the amount corresponding to the weight of the load. Further, since the rotational speed level is different between the front and rear in the traveling direction, the behavior of the rotary wing aircraft becomes extremely unstable. On the other hand, according to the present embodiment, there is no rotational moment, and there is no difference in rotational speed level between the front and rear in the traveling direction, so there is no room for the rotational moment to change even if the luggage is separated. The above problems do not occur.

［変形例］
上記の第１の実施の形態を次のように変形してもよい。
［変形例１］
回転翼機の機体の重心を移動させる重心移動機構を備えるようにしてもよい。図７は、変形例１に係る回転翼機１０Ａの側面図であり、図８は、回転翼機１０Ａの姿勢変化を示す側面図である。接続部１６Ａは、当該接続部１６Ａから見て第１搭載部２５とは反対側に配置された第２搭載部２６を、第１搭載部２５とともにアーム部１４Ａ、１４Ｂ、１４Ｃ、１４Ｄに接続する。第２搭載部２６は、第１搭載部２５に支持棒２１及び支持棒２２を介して連結されている。第２搭載部２６には、電源、受信機、制御装置又は水平器などのほか、測位用の信号（例えばＧＰＳ信号）を受信するアンテナなどが搭載されていてもよい。支持棒２１及び支持棒２２は、一方向に延びる１本の棒状部材であり、アーム部１４Ａ、１４Ｂ、１４Ｃ、１４Ｄ及び回転翼部１１Ａ、１１Ｂ、１１Ｃ、１１Ｄに干渉しない範囲で、ボールジョイント等の接続部１６Ａを中心として、機体に対して搖動可能になっている。[Modification]
The first embodiment described above may be modified as follows.
[Modification 1]
You may make it provide the gravity center moving mechanism which moves the gravity center of the body of a rotary wing aircraft. FIG. 7 is a side view of the rotary wing machine 10A according to the first modification, and FIG. 8 is a side view showing a change in posture of the rotary wing machine 10A. The connecting portion 16A connects the second mounting portion 26 disposed on the side opposite to the first mounting portion 25 when viewed from the connecting portion 16A to the arm portions 14A, 14B, 14C, and 14D together with the first mounting portion 25. . The second mounting part 26 is connected to the first mounting part 25 via a support bar 21 and a support bar 22. The second mounting unit 26 may be mounted with an antenna for receiving a positioning signal (for example, a GPS signal) in addition to a power source, a receiver, a control device, a level device, and the like. The support bar 21 and the support bar 22 are one bar-shaped member extending in one direction, and in a range that does not interfere with the arm parts 14A, 14B, 14C, 14D and the rotary blade parts 11A, 11B, 11C, 11D, etc. With the connecting portion 16A as the center, it can swing with respect to the airframe.

さらに、第１搭載部２５、第２搭載部２６及び支持棒２１、２２は、接続部１６Ａに設けられた例えばラックピニオン機構等によって、その接続部１６Ａに対して上下動が可能になっている。この上下動の機構により第１搭載部２５及び第２搭載部２６が下方（矢印ｆ方向）に下がると、接続部１６Ａから見て第１搭載部２５側の重量のほうが第２搭載部２６側の重量よりも重い状態になる。これにより、回転翼機１０Ａの機体の重心の位置が下がる。この場合、回転翼機１０の姿勢に関わらず、重力の作用によって、回転翼機１０の鉛直方向下方に第１搭載部２５が位置し且つ回転翼機１０の鉛直方向上方に第２搭載部２６が位置した状態を維持することができる。一方、この上下動の機構により第１搭載部２５及び第２搭載部２６が上方（矢印ｅ方向）に上がると、接続部１６Ａから見て第２搭載部２６側の重量のほうが第１搭載部２５側の重量よりも重い状態になり、回転翼機１０Ａの機体の重心の位置が上がることになる。つまり、接続部１６Ａ、第１搭載部２５、第２搭載部２６及び支持棒２１、２２は回転翼機の機体の重心を移動させる重心移動機構を構成している。   Further, the first mounting portion 25, the second mounting portion 26, and the support rods 21 and 22 can be moved up and down with respect to the connecting portion 16A by, for example, a rack and pinion mechanism provided in the connecting portion 16A. . When the first mounting portion 25 and the second mounting portion 26 are lowered downward (in the direction of arrow f) by this vertical movement mechanism, the weight on the first mounting portion 25 side when viewed from the connection portion 16A is on the second mounting portion 26 side. It will be heavier than the weight. Thereby, the position of the center of gravity of the body of the rotary wing aircraft 10A is lowered. In this case, regardless of the attitude of the rotary wing machine 10, due to the action of gravity, the first mounting part 25 is positioned below the rotary wing machine 10 in the vertical direction and the second mounting part 26 is positioned above the rotary wing machine 10 in the vertical direction. Can be maintained. On the other hand, when the first mounting portion 25 and the second mounting portion 26 are moved upward (in the direction of arrow e) by this vertical movement mechanism, the weight on the second mounting portion 26 side as viewed from the connection portion 16A is the first mounting portion. It becomes heavier than the weight on the 25th side, and the position of the center of gravity of the body of the rotary wing aircraft 10A is raised. That is, the connecting portion 16A, the first mounting portion 25, the second mounting portion 26, and the support rods 21 and 22 constitute a center of gravity moving mechanism that moves the center of gravity of the body of the rotary wing aircraft.

本変形例１によれば、上記実施形態と同様の制御によって、図８に示すように、各回転翼１２Ａ、１２Ｂ、１２Ｃ、１２Ｄの回転数を同じにしたまま、回転翼機１０Ａを水平方向に移動させることができる。さらに、第２搭載部２６に測位用の信号（例えばＧＰＳ信号）を受信するアンテナを搭載した場合、接続部１６Ａから見て第１搭載部２５側の重量を第２搭載部２６側の重量よりも重い状態にすると、そのアンテナの向きは常に一定に維持できるので（つまりアンテナは常に鉛直方向上方に向く）、アンテナの指向性や利得を一定に維持することができる。さらに、第１搭載部２５、第２搭載部２６及び支持棒２１、２２を接続部１６Ａに対して上下動させることで回転翼機１０Ａの重心の位置を変えることができるが、このような重心変更は、いずれかの回転翼部１１Ａ、１１Ｂ、１１Ｃ、１１Ｄが故障した場合に回転翼機１０の姿勢を維持するうえで有効である。具体的には、故障して停止した回転翼部に回転翼機１０Ａの機体の重心を近づけるようにして、機体の重心移動および機体の姿勢変化を行うようにすると、残った回転翼部だけで飛行を継続することが可能となる。   According to the first modification, the rotary wing machine 10A is moved in the horizontal direction with the same rotational speed of the rotary blades 12A, 12B, 12C, and 12D as shown in FIG. Can be moved to. Furthermore, when an antenna for receiving a positioning signal (for example, a GPS signal) is mounted on the second mounting portion 26, the weight on the first mounting portion 25 side as viewed from the connection portion 16A is greater than the weight on the second mounting portion 26 side. In the heavy state, the direction of the antenna can always be kept constant (that is, the antenna is always directed upward in the vertical direction), so that the directivity and gain of the antenna can be kept constant. Furthermore, the position of the center of gravity of the rotary wing machine 10A can be changed by moving the first mounting part 25, the second mounting part 26, and the support rods 21 and 22 up and down with respect to the connection part 16A. The change is effective in maintaining the attitude of the rotary wing machine 10 when any of the rotary wing parts 11A, 11B, 11C, 11D fails. Specifically, when the center of gravity of the body of the rotorcraft 10A is brought close to the rotor blade that has stopped due to a failure, the center of gravity of the body is moved and the attitude of the body is changed. It is possible to continue flying.

［変形例２］
上述した実施形態や変形例１では、第１搭載部２５又は第２搭載部２６が接続部１６、１６Ａを中心として重力の作用で自由に回転移動できるようになっていたが、これらの移動をモータや補助プロペラのような動力部を用い、操縦者の操作に応じて能動的に制御してもよい。例えば上記実施形態の場合、支持棒２１が接続部１６を起点としてアーム部１４Ａ、１４Ｂ、１４Ｃ、１４Ｄに対して可変になるような駆動機構と、その駆動機構を駆動するモータとを回転翼機１０に設ける。操縦者は送信機を操作して、回転翼機１０が所望の高度に到着すると、進行方向後方にある回転翼１２Ｂ、１２Ｃの回転数を進行方向前方にある回転翼１２Ａ、１２Ｄの回転数よりも多くすることで回転翼機１０の姿勢を進行方向前下がりに傾かせ、さらにその傾きに合わせて、上記駆動機構を利用して第１搭載部２５が接続部１６の鉛直方向下方に位置するように制御する。この制御は操縦者の手動で行ってもよいし、回転翼機１０の制御装置が所定の制御アルゴリズムに基づき回転翼機１０の傾きに応じて自動的に行ってもよい。また、第１搭載部２５に、上方から見たとき互いに直交する２方向に推進力を発生させる補助プロペラを２つ設け、その補助プロペラによる推進力で第１搭載部２５の位置を制御してもよい。
以上のように、接続部は、第１搭載部が重力によって移動可能となるようにアーム部に接続してもよいし、第１搭載部が動力部によって移動可能となるようにアーム部に接続してもよい。[Modification 2]
In the above-described embodiment and modification 1, the first mounting portion 25 or the second mounting portion 26 can freely rotate and move by the action of gravity around the connection portions 16 and 16A. A power unit such as a motor or an auxiliary propeller may be used and actively controlled according to the operation of the operator. For example, in the case of the above-described embodiment, a driving mechanism in which the support rod 21 is variable with respect to the arm portions 14A, 14B, 14C, and 14D with the connection portion 16 as a starting point, and a motor that drives the driving mechanism are used as a rotary blade. 10 is provided. When the operator operates the transmitter and the rotorcraft 10 arrives at a desired altitude, the rotational speed of the rotor blades 12B and 12C at the rear in the traveling direction is determined from the rotational speed of the rotor blades 12A and 12D at the front in the traveling direction. By increasing the number, the attitude of the rotary wing machine 10 is inclined downward in the traveling direction, and the first mounting portion 25 is positioned below the connecting portion 16 in the vertical direction using the drive mechanism according to the inclination. To control. This control may be performed manually by the operator, or the control device of the rotary wing machine 10 may be automatically performed according to the inclination of the rotary wing machine 10 based on a predetermined control algorithm. The first mounting portion 25 is provided with two auxiliary propellers that generate propulsive force in two directions orthogonal to each other when viewed from above, and the position of the first mounting portion 25 is controlled by the propulsive force generated by the auxiliary propellers. Also good.
As described above, the connecting portion may be connected to the arm portion so that the first mounting portion can be moved by gravity, or connected to the arm portion so that the first mounting portion can be moved by the power portion. May be.

［変形例３］
変形例１において、接続部１６Ａから見て第１搭載部２５側の重量と第２搭載部２６側の重量とを同じにしておけば、図９に示すように、回転翼機１０Ａが水平方向に移動する際に、支持棒２１及び支持棒２２の姿勢を水平に保つことができる。この場合において、例えば第２搭載部２６にカメラ２８を搭載しておくと、カメラ２８の撮像方向は回転翼機１０の進行方向になるので、例えば回転翼１２Ａなどがカメラ２８の撮像範囲に入って邪魔になる可能性を低減することができる。また、支持棒２１及び支持棒２２の姿勢が垂直の場合に比べ、支持棒２１及び支持棒２２の姿勢を水平の場合には、水平方向に進行するときの機体の空気抵抗を小さくすることが可能となる。[Modification 3]
In the first modification, if the weight on the first mounting portion 25 side and the weight on the second mounting portion 26 side are the same as viewed from the connection portion 16A, the rotary wing machine 10A is in the horizontal direction as shown in FIG. When moving, the posture of the support bar 21 and the support bar 22 can be kept horizontal. In this case, for example, if the camera 28 is mounted on the second mounting portion 26, the imaging direction of the camera 28 is the traveling direction of the rotary wing machine 10, so that, for example, the rotary wing 12 </ b> A enters the imaging range of the camera 28. The possibility of getting in the way can be reduced. Further, when the posture of the support rod 21 and the support rod 22 is horizontal, when the posture of the support rod 21 and the support rod 22 is horizontal, the air resistance of the airframe when traveling in the horizontal direction can be reduced. It becomes possible.

［変形例４］
回転翼機の構造は、実施形態に例示したものに限らず、例えば図１０〜１２に示すような構造であってもよい。変形例４に係る回転翼機１０Ｂは、回転翼部１１Ａ、１１Ｂ、１１Ｃ、１１Ｄを支持するアーム部１４１が上方から見たときに矩形の形状となるように構成されている。接続部１６Ｂは、水平なｘ軸周りに回転可能となるようにアーム部１４１に回転軸１６２１で接続された枠体１６１と、ｘ軸に直交する水平なｙ軸周りに回転可能となるように枠体１６１にピン１６１１で接続された枠体１６２とを備えている。アーム部１４１と枠体１６１との間には、枠体１６１のｘ軸周りの回転運動を抑制するダンパ１７１が設けられており、枠体１６１と枠体１６２との間には、枠体１６２のｙ軸周りの回転運動を抑制するダンパ１７２が設けられている。このダンパ１７１、１７２は、枠体１６１、１６２が回転運動して第１搭載部２５が急激に変位することで回転翼機１０Ｂの姿勢が不安定にならないように、その変位に要する時間を長くするための手段である。[Modification 4]
The structure of the rotary wing machine is not limited to that illustrated in the embodiment, and may be a structure as shown in FIGS. The rotary wing machine 10B according to the modification 4 is configured such that the arm portion 141 that supports the rotary wing portions 11A, 11B, 11C, and 11D has a rectangular shape when viewed from above. The connecting portion 16B can rotate around a horizontal y-axis orthogonal to the x-axis and a frame 161 connected to the arm portion 141 by a rotating shaft 1621 so as to be rotatable around the horizontal x-axis. A frame body 162 connected to the frame body 161 with pins 1611 is provided. A damper 171 is provided between the arm portion 141 and the frame body 161 to suppress the rotational movement of the frame body 161 about the x axis. Between the frame body 161 and the frame body 162, the frame body 162 is provided. A damper 172 is provided that suppresses the rotational movement around the y-axis. The dampers 171 and 172 increase the time required for the displacement so that the posture of the rotary wing machine 10B does not become unstable due to the frame members 161 and 162 rotating and the first mounting portion 25 being suddenly displaced. It is a means to do.

［変形例５］
本発明は、回転翼機が水平方向に進行する場合に限らず、水平方向を含む方向（つまり水平方向のベクトル成分を持つ方向）に進行する場合にも適用可能である。つまり、図６で説明した重力ｍｇの向きに平行な方向の分力Ｆ１が、重力ｍｇよりも大きい又は小さい場合であっても、進行方向前方及び後方の各回転翼の回転数の差を従来よりも小さくすることができる。[Modification 5]
The present invention is not limited to the case where the rotorcraft travels in the horizontal direction, but can also be applied to the case where the rotorcraft travels in a direction including the horizontal direction (that is, a direction having a vector component in the horizontal direction). That is, even if the component force F1 in the direction parallel to the direction of gravity mg described with reference to FIG. 6 is larger or smaller than gravity mg, the difference in rotational speed between the rotating blades in the forward and rearward directions is determined. Can be made smaller.

［変形例６］
電源は回転翼機に搭載する必要はなく、例えば地上に電源を設置し、その電源から延びる電源ケーブルを回転翼機に接続して電力供給を行ってもよい。また、高度１５ｍ程度の高度であれば、非接触電力伝送の受信機を中心部、第１搭載部又は第２搭載部に設置し、地上から回転翼機に無線で給電してもよい。[Modification 6]
The power source does not need to be mounted on the rotorcraft. For example, a power source may be installed on the ground, and power may be supplied by connecting a power cable extending from the power source to the rotorcraft. If the altitude is about 15 m, a non-contact power transmission receiver may be installed in the central part, the first mounting part, or the second mounting part, and power may be supplied wirelessly from the ground to the rotorcraft.

（第２の実施の形態）
上本発明の第２の実施の形態について、図１６乃至図１８を参照して説明する。なお、以下における説明では、同一又は類似の要素については同一の参照符号を付しその詳細な説明を省略する。(Second Embodiment)
A second embodiment of the present invention will be described with reference to FIGS. In the following description, the same or similar elements are denoted by the same reference numerals, and detailed description thereof is omitted.

図１６に示されるように、第２の実施の形態による回転翼機もまた、飛行部と、本体部と、飛行部及び本体部を所定の範囲で搖動可能に接続する接続部とを備えている。回転翼機は、主として進行方向（Ｘ方向）に飛行する。   As shown in FIG. 16, the rotorcraft according to the second embodiment also includes a flying part, a main body part, and a connection part that connects the flying part and the main body part so as to be swingable within a predetermined range. Yes. The rotary wing aircraft flies mainly in the traveling direction (X direction).

飛行部は、回転翼１１Ａ、１１Ｂ（１１Ｃ、１１Ｄは図示せず）と、これらに動力を供給する動力部（モータ）１３Ａ、１３Ｂ（１３Ｃ、１３Ｄは図示せず）と、動力部１３Ａ、１３Ｂを支持するアーム部１４Ａ、１４Ｂ（１４Ｃ、１４Ｄは図示せず）とを備えている。   The flying parts include rotor blades 11A and 11B (11C and 11D not shown), power parts (motors) 13A and 13B (13C and 13D not shown) for supplying power to these, and power parts 13A and 13B. Arm portions 14A and 14B (14C and 14D are not shown).

本体部は、上下方向に延びる支持棒と、当該支持棒の上端及び下端に夫々設けられた第１搭載部及び第２搭載部とを備えている。支持棒は下方に延びる下側の支持棒２１と上側に延びる上側の支持棒２２とを有している。第１搭載部にはカメラ２８Ｔが搭載されており、第２搭載部にはカメラ２８Ｂが搭載されている。   The main body includes a support bar extending in the vertical direction, and a first mounting part and a second mounting part respectively provided at the upper end and the lower end of the support bar. The support bar has a lower support bar 21 extending downward and an upper support bar 22 extending upward. A camera 28T is mounted on the first mounting portion, and a camera 28B is mounted on the second mounting portion.

本実施の形態による接続部は、第１接続部１６Ｐと、第２接続部１６Ｒとを有する所謂２軸ジンバル構造を有している。第１接続部１６Ｐは、ピッチ方向（水平軸周りに）に本体部を搖動可能に接続する。第２接続部１６Ｒは、進行方向（Ｘ軸）と仰角θをなす斜交軸Ｐ周りに本体部を搖動可能にする。   The connecting portion according to the present embodiment has a so-called biaxial gimbal structure having a first connecting portion 16P and a second connecting portion 16R. The first connecting portion 16P connects the main body portion so as to be swingable in the pitch direction (around the horizontal axis). The second connecting portion 16R enables the main body portion to swing around an oblique axis P that forms an elevation angle θ with the traveling direction (X axis).

本実施の形態による水平軸と斜交軸との交点は、回転翼１１Ａ、１１Ｂ（１１Ｃ、１１Ｄは図示せず）回転翼１１Ａ、１１Ｂ（１１Ｃ、１１Ｄは図示せず）によつて生じる揚力の中心と略一致する。より詳しくは、交点の位置は、が回転することによって機体に発生する揚力の当該回転翼機に対する作用点であって各回転翼の短手方向の幅内の位置を通る平面上であって、且つ各複数の回転翼の回転軸が通る円の中心の位置にある作用点と略一致する位置にある。更に、本実施の形態による上記の交点は、本体部の重心Ｇと略一致する。   The intersection of the horizontal axis and the oblique axis according to the present embodiment is the lift generated by the rotor blades 11A and 11B (11C and 11D not shown) and the rotor blades 11A and 11B (11C and 11D not shown). It almost coincides with the center. More specifically, the position of the intersection is the point of action of the lift generated in the fuselage by the rotation of the rotary wing machine on a plane passing through the position in the width of the rotary wing in the short direction, And it exists in the position which substantially corresponds with the action point in the position of the center of the circle which the axis of rotation of each of a plurality of rotary blades passes. Furthermore, the above intersection according to the present embodiment substantially coincides with the center of gravity G of the main body.

また、図示されるように、カメラ２８Ｔの位置は、本体部から後方にずれており、カメラ２８Ｂの位置は、本体部から前方にずれている。これにより、前後方向において互いにカウンタウェイトとして機能するとともに、進行方向への飛行時に回転翼が視野内に入りにくくなる。   Further, as shown in the figure, the position of the camera 28T is shifted backward from the main body, and the position of the camera 28B is shifted forward from the main body. This functions as counterweights in the front-rear direction and makes it difficult for the rotor blades to enter the field of view when flying in the traveling direction.

図１７に示されるように、回転翼機は、飛行部を進行方向に傾けるようにして進行方向に移動させる。この時、斜交軸Ｐは水平方向と平行になるときがある。即ち、図１６に示される仰角θは、少なくとも進行方向への飛行時に斜交軸Ｐが水平となり得る角度であり、換言すれば、進行方向への飛行時に斜交軸が少なくとも水平方向をとれる瞬間があるように設定される。詳しくは、仰角θは、１０度から３５度が望ましく、進行方向への飛行速度を重視する場合には２５度乃至３５度が望ましく、飛行速度が低速の場合には１０度乃至１５度が望ましい。   As shown in FIG. 17, the rotary wing aircraft moves in the traveling direction so that the flying part is inclined in the traveling direction. At this time, the oblique axis P may be parallel to the horizontal direction. That is, the elevation angle θ shown in FIG. 16 is an angle at which the oblique axis P can be horizontal at least when flying in the traveling direction. In other words, the moment when the oblique axis can take at least the horizontal direction when flying in the traveling direction. Is set to be. Specifically, the elevation angle θ is preferably 10 to 35 degrees, preferably 25 to 35 degrees when importance is placed on the flight speed in the traveling direction, and preferably 10 to 15 degrees when the flight speed is low. .

図１８に示されるように、より進行方向の飛行速度を増加させた場合、斜交軸は水平方向と俯角をなすこととなる。   As shown in FIG. 18, when the flight speed in the traveling direction is further increased, the oblique axis forms a depression with the horizontal direction.

このように、初期状態（垂直上昇時）において、予め斜交軸を進行方向と仰角をなすようにしておくことにより、飛行時において、適切な姿勢を維持しやすくなるとともに、特に、第２接続部１６Ｒの有効角が増加するため、佐生光速度の引き上げが可能となる。また、接続部にモータを使用する場合には当該モータの出力を小さなもので構成することができる。   As described above, in the initial state (at the time of vertical ascent), by making the oblique axis in advance with the traveling direction and the elevation angle, it becomes easier to maintain an appropriate posture during flight, and in particular, the second connection Since the effective angle of the portion 16R is increased, the speed of light of Sasa can be increased. Moreover, when using a motor for a connection part, the output of the said motor can be comprised with a small thing.

＜変形例＞
上述した第２の実施の形態は、例えば、図１９のような変形例として構成してもよい。図示されるように本変形例における回転翼機は、カメラ２８Ｔが本体部の軸上にある（即ち、後方にずれていない）。カメラ２８Ｂは前方に位置している方が回転翼の映り込み等を抑えることができ、かつ、上下のカメラ２８Ｔ、２８Ｂで取得した画像を合成する場合にはできるだけ互いの位置が同軸に近い方が好ましいためである。<Modification>
For example, the second embodiment described above may be configured as a modification as shown in FIG. As shown in the drawing, in the rotary wing machine of this modification, the camera 28T is on the axis of the main body (that is, not shifted backward). When the camera 28B is positioned in front, it is possible to suppress the reflection of the rotor blades, and when the images acquired by the upper and lower cameras 28T and 28B are synthesized, the positions of the cameras 28B are as close to each other as possible. Is preferable.

１０、１０Ａ、１０Ｂ、１０Ｃ…回転翼機、１１Ａ、１１Ｂ、１１Ｃ、１１Ｄ…回転翼部、１２Ａ、１２Ｂ、１２Ｃ、１２Ｄ…回転翼、１３Ａ、１３Ｂ、１３Ｃ、１３Ｄ…動力部、１４Ａ、１４Ｂ、１４Ｃ、１４Ｄ、１４１…アーム部、１５…中心部、１６、１６Ａ、１６Ｂ…接続部、１６１、１６２…枠体、２１、２２…支持棒、２５…第１搭載部、２６…第２搭載部、２８…カメラ

10, 10A, 10B, 10C ... Rotary wing machine, 11A, 11B, 11C, 11D ... Rotary wing part, 12A, 12B, 12C, 12D ... Rotary wing, 13A, 13B, 13C, 13D ... Power part, 14A, 14B, 14C, 14D, 141 ... arm portion, 15 ... center portion, 16, 16A, 16B ... connection portion, 161, 162 ... frame body, 21, 22 ... support rod, 25 ... first mounting portion, 26 ... second mounting portion , 28 ... Camera

Claims (4)

飛行部と、本体部と、前記飛行部及び前記本体部を所定の範囲で搖動可能に接続する接続部とを備えた回転翼機であって、
前記飛行部は、複数の回転翼と、前記複数の回転翼を支持するアーム部とを備えており、
前記本体部は、上下方向に延びる棒状部と、当該棒状部の上端及び下端に夫々設けられた第１搭載部及び第２搭載部とを備えており、
前記接続部は、進行方向と直交する水平軸周りに前記本体部を搖動可能にする第１接続部と、前記水平軸と直交し且つ前記水平軸に沿ってみた場合に前記進行方向と所定の仰角をなす斜交軸周りに前記本体部を搖動可能にする第２接続部とを有し、
前記第１搭載部には第１のカメラが搭載され、
前記第２搭載部には第２のカメラが前記棒状部の軸線から前方にずらした状態で搭載される、
回転翼機。 A rotary wing aircraft including a flying part, a main body part, and a connection part that connects the flying part and the main body part so as to be capable of sliding in a predetermined range,
The flying unit includes a plurality of rotor blades and an arm unit that supports the plurality of rotor blades,
The main body includes a rod-shaped portion extending in the vertical direction, and a first mounting portion and a second mounting portion respectively provided at an upper end and a lower end of the rod-shaped portion,
The connecting portion includes a first connecting portion that enables the body portion to swing around a horizontal axis that is orthogonal to the traveling direction, and a predetermined direction that is perpendicular to the horizontal axis and the traveling direction when viewed along the horizontal axis. A second connecting part that enables the main body part to swing around an oblique axis that forms an elevation angle;
A first camera is mounted on the first mounting portion,
Wherein the second mounting part Ru is mounted in a state where the second camera is shifted forward from the axis of the rod-like portion,
Rotorcraft. 請求項１に記載の回転翼機であって、
前記第１のカメラは、前記棒状部の軸線の延長線上に配置されている、
回転翼機。 The rotary wing machine according to claim 1,
The first camera that is disposed on an extension of the axis of the rod-like portion,
Rotorcraft. 請求項１に記載の回転翼機であって、The rotary wing machine according to claim 1,
前記第１のカメラは、前記棒状部の軸線から後方にずれた位置に配置されている、The first camera is disposed at a position shifted rearward from the axis of the rod-shaped portion.
回転翼機。Rotorcraft. 請求項１乃至請求項３の何れか一項に記載の回転翼機であって、
前記飛行部を進行方向に傾けるようにして進行方向に移動し
前記仰角は、少なくとも進行方向への飛行時に前記斜交軸が水平となり得る角度である、
回転翼機。 It is a rotary wing machine as described in any one of Claims 1 thru | or 3, Comprising :
The flight part is moved in the traveling direction so as to be tilted in the traveling direction, and the elevation angle is an angle at which the oblique axis can be horizontal when flying in at least the traveling direction.
Rotorcraft.
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