Rotary-wing aircraft and frame unit for rotary-wing aircraft

Abstract

Provided are a frame unit for a compact rotary-wing aircraft, and a rotary wing using the same. A rotary-wing aircraft 2 comprises a frame unit 10 for the rotary-wing aircraft and an occupant seat 20. The frame unit 10 for the rotary-wing aircraft comprises a reference frame 11, an upper frame 12, and an upper support structure 13 that supports the upper frame 12. The main frame 11 comprises a front member 11F that is positioned at the front of the occupant seat 20, a back member 11B that is positioned at the back of the occupant seat 20, a left member 11L that is positioned at the left side of the occupant seat 20, a right member 11R that is positioned at the right side of the occupant seat 20, and eight rotors 11T that are provided to the front member 11F and the back member 11B. In a plan view along the Z direction, the reference frame 11 and the upper frame 12 overlap with rotational trajectories 11TR of the rotors 11T.

Description

Rotary-wing aircraft and frame unit for rotary-wing aircraft

[0001] The present invention relates to a rotary-wing aircraft and a frame unit for a rotary-wing aircraft.

[0002] In recent years, the use of services using aircraft (hereinafter simply referred to as "aircraft") such as drones and unmanned aerial vehicles (UAVs: Unmanned Aerial Vehicles) used for various purposes has been expanding. Among these, attention has been focused on rotary-wing aircraft that obtain lift by means of rotors. When utilizing aircraft such as rotary-wing aircraft in various industries, an aircraft with good operating efficiency is required.

[0003] As such an aircraft, for example, Patent Document 1 discloses an unmanned aircraft. Further, Patent Document 2 discloses an aircraft for cargo transportation, and Patent Document 3 discloses a manned aircraft.

[0004] International Publication No. 2021-240681 JP 2019-123420 A JP 2024-6288 A

[0005] When a rotary-wing aircraft is for passenger use or large-scale cargo transportation, a large lift is required, and accordingly, an increase in output by the rotors is necessary. To increase the output by the rotors, the size of the rotors becomes larger, and as a result, the rotary-wing aircraft becomes larger.

[0006] Therefore, the present disclosure has been made in view of the above problems, and aims to provide a compact frame unit for a rotary-wing aircraft and a rotary-wing aircraft using the same.

[0007] The present invention is a frame unit for a rotary-wing aircraft, comprising a main frame, a rotor provided on the main frame, a sub-frame disposed above or below the main frame, and a sub-frame support structure provided on the main frame for supporting the sub-frame, wherein in a plan view when viewed from the direction in which the rotation axis of the rotor extends, the sub-frame overlaps with the rotation locus of the rotor.

[0008] The aforementioned dependent frame support structure includes a first dependent frame support portion disposed on one side in the first direction, and the main frame includes a second dependent main frame portion disposed on one side in a second direction different from the first direction, and a second other-side main frame portion disposed on the other side in the second direction, and it is preferable that the first dependent frame support portion is disposed between the second dependent main frame member and the second other-side main frame member.

[0009] The subordinate frame comprises an upper frame positioned above the main frame, the subordinate frame support structure is an upper support structure that supports the upper frame, the first one-sided subordinate frame support portion comprises a first one-sided upper support portion positioned on one side in the first direction, and the first one-sided upper support portion is preferably positioned between the second one-sided main frame member and the second other-sided main frame member.

[0010] The subordinate frame comprises an upper frame positioned above the main frame, and when the direction in which the rotation axis of the rotor extends is defined as the third direction, it is preferable that the upper frame coincides with the rotation trajectory of the rotor in a plan view from the third direction.

[0011] The structure further comprises a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, and it is preferable that the first one-sided upper support portion is a front-side upper support portion disposed in front of the passenger seat. It is preferable that the front-side upper support portion is disposed in the center between the second one-sided main frame member and the second other-sided main frame member in the second direction.

[0012] When the direction in which the rotation axis of the rotor extends is defined as the third direction, it is preferable that, in a plan view from the third direction, the rotation trajectory of the rotor exists between either the second one-sided main frame member or the second other-sided main frame member and the front upper support portion.

[0013] It is preferable that the lower end of the front upper support portion is located further forward than the upper end of the front upper support portion.

[0014] The upper frame further comprises a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, and the upper frame comprises a second one-sided upper frame portion disposed on one side of the passenger seat in the second direction, and when the direction in which the rotation axis of the rotor extends is defined as the third direction, it is preferable that the second one-sided upper frame portion coincides with the rotation trajectory of the rotor in a plan view from the third direction.

[0015] The rotor further comprises a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, the upper frame comprises a second one-sided upper frame portion disposed on one side of the passenger seat in the second direction, and the upper support structure comprises a second one-sided upper support frame portion disposed on one side in the second direction, and when the direction in which the rotation axis of the rotor extends is defined as the third direction, it is preferable that the upper end of the second one-sided upper support frame portion coincides with the rotation trajectory of the rotor in a plan view from the third direction.

[0016] The vehicle further comprises a passenger seat disposed between the second one-sided main frame and the second other-sided main frame, the upper frame comprises a second one-sided upper frame disposed on one side of the passenger seat in the second direction, and the upper support structure comprises a second one-sided upper support frame disposed on one side in the second direction, preferably the upper end of the second one-sided upper support frame is located in front of the passenger seat, and the lower end of the second one-sided upper support frame is located behind the upper end of the second one-sided upper support frame. Furthermore, the passenger seat comprises a chair, the chair comprises a backrest and a seat, and preferably the second one-sided main frame and the second other-sided main frame cross the backrest in the height direction. Furthermore, the structure further includes a passenger seat disposed between the second one-sided main frame and the second other-sided main frame, wherein the upper frame includes a second one-sided upper frame portion disposed on one side of the passenger seat in the second direction, the upper end of the second one-sided upper support frame portion is preferably located behind the passenger seat, and the lower end of the second one-sided upper support frame portion is preferably located forward of the upper end of the second one-sided upper support frame portion.

[0017] The upper support structure comprises a second other-side upper support frame portion arranged on the other side of the passenger seat in the second direction, and it is preferable that the second other-side upper support frame portion is symmetrical with respect to the passenger seat.

[0018] The aircraft further comprises a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, and it is preferable that the first one-sided upper support portion is a rearward upper support portion disposed behind the passenger seat. Furthermore, it is preferable that the rearward upper support portion is disposed in the center between the second one-sided main frame member and the second other-sided main frame member in the second direction. Alternatively, when the direction in which the rotation axis of the rotor extends is taken as the third direction, it is preferable that the rotation trajectory of the rotor exists between either the second one-sided main frame member or the second other-sided main frame member and the rearward upper support portion in a plan view from the third direction. Furthermore, it is preferable that the lower end of the rearward upper support portion is located forward of the upper end of the rearward upper support portion.

[0019] The aforementioned auxiliary frame support structure includes a first other-side auxiliary frame support portion arranged on the other side in the first direction (in front of / behind the passenger seat), and it is preferable that the first other-side auxiliary frame support portion is a front-side upper support portion arranged in front of the passenger seat.

[0020] The vehicle further comprises a passenger seat located between the second main frame portion on one side and the second main frame portion on the other side, wherein the passenger seat includes a chair, and the chair includes a backrest and a seat, and it is preferable that the lower end of the backrest is located forward of the upper end of the backrest.

[0021] The vehicle further comprises a passenger seat located between the second one-sided main frame and the second other-sided main frame, the passenger seat comprising a chair, and the upper frame comprising a second one-sided upper frame portion located on one side in the second direction and a second other-sided upper frame portion located on the other side in the second direction, wherein there is preferably enough space between the second one-sided upper frame portion and the second other-sided upper frame portion to allow for getting on and off the chair. Furthermore, the distance between the second one-sided upper frame portion and the second other-sided upper frame portion in the second direction is preferably greater than or equal to the width of the chair in the second direction.

[0022] The structure further includes a passenger seat disposed between the second one-sided main frame and the second other-sided main frame, the passenger seat comprising a chair, the chair comprising a backrest and a seat, and preferably the second one-sided main frame and the second other-sided main frame cross the backrest in the height direction.

[0023] The subordinate frame comprises a lower frame disposed below the main frame, the subordinate frame support structure comprises a lower support structure provided on the main frame and supporting the lower frame, the lower support structure comprises a first one-side lower support portion disposed on one side in the first direction, and the first one-side lower support portion is preferably disposed between the second one-side main frame member and the second other-side main frame member.

[0024] When the direction in which the rotor's rotation axis extends is defined as the third direction, it is preferable that the lower frame coincides with the rotor's rotation trajectory in a plan view from the third direction. Furthermore, it is preferable to further provide a passenger seat located between the second one-sided main frame portion and the second other-sided main frame portion, and that the first one-sided lower support portion includes a front-side lower support portion located in front of the passenger seat. Moreover, when the direction in which the rotor's rotation axis extends is defined as the third direction, it is preferable that the rotor's rotation trajectory exists between either the one-sided main frame member or the other-sided main frame member and the front-side lower support portion in a plan view from the third direction.

[0025] The passenger seat comprises a chair and a mounting platform provided beneath the chair, and when the direction in which the rotation axis of the rotor extends is defined as the third direction, it is preferable that, in a plan view from the third direction, the portion of the mounting platform forward of the chair coincides with the rotation trajectory of the rotor. Furthermore, the passenger seat further comprises a rod member provided to stand upright from the mounting platform, and it is preferable that the rod member is located in the center of the passenger seat in the second direction.

[0026] The rotary-wing aircraft of the present invention is characterized by comprising the above-described frame unit for a rotary-wing aircraft.

[0027] According to the present invention, a compact frame unit for a rotary-wing aircraft and a rotary-wing aircraft using the same can be provided.

[0028] This is a schematic left side view showing the outline of a rotary-wing aircraft. This is a schematic perspective view showing the outline of a rotary-wing aircraft. This is a schematic exploded perspective view showing the outline of a rotary-wing aircraft. This is a schematic exploded perspective view showing the outline of a rotary-wing aircraft. This is a schematic plan view showing the outline of the basic frame. This is a schematic cross-sectional view along the line VI-VI' showing the outline of the front member. This is a schematic cross-sectional view along the line VII-VII' showing the outline of the left member. This is a schematic plan view showing the outline of the upper frame. This is a schematic perspective view showing the outline of the landing gear structure. This is a schematic cross-sectional view along the line X-X' (cross-sectional view that appears when cut in a plane including the X and Z directions) showing the outline of the passenger seat. This is a schematic perspective view showing the outline of the base. This is a schematic plan view showing the outline of the lower frame and mounting plate. This is a schematic functional block diagram showing the outline of a rotary-wing aircraft. This is a schematic plan view showing the outline of the basic frame (modified version). This is a schematic left side view showing the outline of a rotary-wing aircraft (modified version). This is a schematic perspective view showing the outline of the upper frame (modified version) and the upper support structure (modified version). (A) is a schematic perspective view showing the outline of the front member. (B) is a schematic perspective view showing the outline of the front member (modified version). This is a schematic cross-sectional view taken along the line VI-VI' showing the outline of the front member (modified version). (A) and (B) are schematic perspective views showing the outline of the front member (modified version). (A) to (C) are schematic cross-sectional views taken along the line VI-VI' showing the outline of the front member (modified version), respectively. (A) to (B) are schematic cross-sectional views taken along the line VI-VI' showing the outline of the front member (modified version), respectively. (A) to (B) are schematic plan views showing the outline of the standard frame (modified version), respectively. (A) to (B) are schematic plan views showing the outline of the standard frame (modified version), respectively.

[0029] (Rotary-wing aircraft) As shown in Figure 1, the rotary-wing aircraft 2 comprises a rotary-wing aircraft frame unit 10, a passenger seat 20, an operation panel 30, a battery device 40, and a control device 80 that controls each component and device.

[0030] For the sake of explanation, the forward, backward, left, and right directions refer to the directions as viewed from passenger seat 20. Furthermore, the forward-backward direction in the horizontal plane is defined as the X direction (first direction), the left-right direction in the horizontal plane (direction perpendicular to the X direction) is defined as the Y direction (second direction), and the direction perpendicular to the horizontal plane is defined as the Z direction.

[0031] (Rotary-wing aircraft frame unit) As shown in Figures 1 and 2, the rotary-wing aircraft frame unit 10 comprises a reference frame 11 (main frame), an upper frame 12 (subordinate frame) positioned above the reference frame 11 in the Z direction, an upper support structure 13 (subordinate frame support structure) provided on the reference frame 11 to support the upper frame 12, a lower frame 14 (subordinate frame) positioned below the reference frame 11 in the Z direction, and a lower support structure 15 (subordinate frame support structure) provided on the reference frame 11 to support the lower frame 14.

[0032] (Reference Frame) As shown in Figures 3 to 5, the reference frame 11 comprises a front member 11F (rotor-side member) positioned in front of the seat 21 of the passenger seat 20 (Figure 4; details will be described later), a rear member 11B (rotor-side member) positioned behind the seat 21, a left member 11L (opposing member) positioned to the left of the seat 21, a right member 11R (opposing member) positioned to the right of the seat 21, eight rotors 11T provided on the front member 11F and the rear member 11B, eight motors 11M that drive the rotors 11T, and a coupling 11G that connects each of the members 11F, 11B, 11L, and 11R.

[0033] The reference frame 11 is preferably symmetrical with respect to the reference plane SF (Figure 5). Here, the reference plane SF is a plane having a normal vector in the X direction and passing through the chair 21. The reference plane SF may also be a plane having a normal vector in the X direction and passing through the center of gravity G10 of the rotorcraft frame unit 10 or the center of gravity of the rotorcraft 2. Here, the center of gravity G10 of the rotorcraft frame unit 10 or the center of gravity of the rotorcraft 2 may be the center of gravity position when passengers and luggage are loaded, or the center of gravity position when passengers and luggage are loaded.

[0034] (Front and Rear Members) As shown in Figure 5, the front member 11F and the rear member 11B each extend in the Y direction and are arranged at a predetermined interval in the X direction. It is preferable that the front member 11F and the rear member 11B are parallel to each other.

[0035] As shown in Figures 4 to 6, the front member 11F comprises an upper cylindrical portion 11F1 (first frame portion) extending in the Y direction, a lower cylindrical portion 11F2 (second frame portion) positioned along the upper cylindrical portion 11F1 and below the upper cylindrical portion 11F1 in the Z direction, and a connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. Preferably, the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 are aligned vertically.

[0036] As shown in Figure 6, the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 are each formed in a cylindrical shape. The length, inner diameter, and outer diameter D1 of the upper cylindrical portion 11F1 and the length, inner diameter, and outer diameter D1 of the lower cylindrical portion 11F2 are the same. Preferably, the distance CL1 between the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 is smaller than the diameter D1 of the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2.

[0037] The inner and outer diameters of the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 can be determined according to the purpose, but it is preferable that the dimensions of the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 are approximately the same.

[0038] The connecting structure 11F5 is formed in a plate shape and is arranged along the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. The connecting structure 11F5 extends from the left end to the right end of the upper cylindrical portion 11F1. The thickness direction of the connecting structure 11F5 is the X direction. The upper end of the connecting structure 11F5 is fixed to the lower surface 11F1U of the upper cylindrical portion 11F1, and the lower end of the connecting structure 11F5 is fixed to the upper surface 11F2T of the lower cylindrical portion 11F2. The dimensions and plate thickness of the connecting structure 11F5 can be determined according to the purpose. It is preferable that the plate thickness T1 of the connecting structure 11F5 is smaller than the diameter D1 of the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2.

[0039] As shown in Figure 5, the rear member 11B has the same structure as the front member 11F, and comprises an upper cylindrical portion (first frame portion) extending in the Y direction, a lower cylindrical portion (second frame portion) positioned along the upper cylindrical portion and below it in the Z direction, and a connecting structure that connects the upper cylindrical portion and the lower cylindrical portion. Since the upper cylindrical portion, the lower cylindrical portion and the connecting structure are the same as those of the front member 11F, a detailed explanation thereof will be omitted.

[0040] (Left and Right Members) As shown in Figures 4 and 5, the left member 11L and the right member 11R each extend in the X direction and are arranged at a predetermined interval in the Y direction. It is preferable that the left member 11L and the right member 11R are parallel to each other.

[0041] As shown in Figure 7, the left member 11L comprises an upper cylindrical portion 11L1 (first frame portion) extending in the X direction, a lower cylindrical portion 11L2 (second frame portion) extending in the X direction and positioned below the upper cylindrical portion 11L1 in the Z direction, and a connecting structure 11L5 that connects the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2.

[0042] The upper cylindrical portion 11L1 and the lower cylindrical portion 11L2 are formed in a cylindrical shape. The length, inner diameter, and outer diameter of the upper cylindrical portion 11L1, and the length, inner diameter, and outer diameter of the lower cylindrical portion 11L2 are the same. Preferably, the distance CL2 between the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2 is smaller than the diameter D2 of the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2.

[0043] The connecting structure 11L5 is formed in a plate shape and is arranged along the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2. The connecting structure 11L5 extends from the left end to the right end of the upper cylindrical portion 11L1. The thickness direction of the connecting structure 11L5 is the Y direction. The upper end of the connecting structure 11L5 is joined to the lower surface 11L1U of the upper cylindrical portion 11L1, and the lower end of the connecting structure 11L5 is joined to the upper surface 11L2T of the lower cylindrical portion 11L2. The dimensions and plate thickness of the connecting structure 11L5 can be determined according to the purpose. It is preferable that the plate thickness T2 of the connecting structure 11L5 is smaller than the diameter D2 of the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2.

[0044] The right member 11R has the same structure as the left member 11L, and includes an upper cylindrical portion (first frame portion) extending in the X direction, a lower cylindrical portion (second frame portion) arranged below the upper cylindrical portion in the Z direction along the upper cylindrical portion, and a connecting structure connecting the upper cylindrical portion and the lower cylindrical portion. Since the upper cylindrical portion, the lower cylindrical portion, and the connecting structure are also the same as those of the left member 11L, detailed description thereof is omitted.

[0045] (Joint) As shown in FIG. 5, by the first joint 11G, the front end of the left member 11L and the middle portion of the front member 11F (for example, the middle portion on the left side of the center in the Y direction) are connected. Also, by the second joint 11G, the front end of the right member 11R and the middle portion of the front member 11F (for example, the middle portion on the right side of the center in the Y direction) are connected. By the third joint 11G, the rear end of the left member 11L and the middle portion of the rear member 11B (for example, the middle portion on the left side of the center in the Y direction) are connected. By the fourth joint 11G, the rear end of the right member 11R and the middle portion of the rear member 11B (for example, the middle portion on the right side of the center in the Y direction) are connected. Thereby, the front member 11F, the rear member 11B, the left member 11L, and the right member 11R are connected to each other in a state of being arranged to surround the chair 21.

[0046] The reference frame 11 preferably further includes diagonal reinforcing members 11H arranged on both the left and right sides of the chair 21, a front reinforcing member 11J arranged in front of the chair 21, and a rear reinforcing member 11K arranged behind the chair 21.

[0047] (Diagonal Reinforcing Member) The first diagonal reinforcing member 11H is connected by the joint 11G to the left end of the front member 11F and the middle portion of the left member 11L (for example, the middle portion in front of the chair 21). The second diagonal reinforcing member 11H is connected by the joint 11G to the right end of the front member 11F and the middle portion of the right member 11R (for example, the middle portion in front of the chair 21). The third diagonal reinforcing member 11H is connected by the joint 11G to the left end of the rear member 11B and the middle portion of the left member 11L (for example, the middle portion behind the chair 21). The fourth diagonal reinforcing member 11H is connected by the joint 11G to the right end of the rear member 11B and the middle portion of the right member 11R (for example, the middle portion behind the chair 21).

[0048] Each diagonal reinforcing member 11H preferably has the same structure as the left member 11L or the like. That is, each diagonal reinforcing member 11H preferably includes an upper cylindrical portion extending from one position to the other position, a lower cylindrical portion disposed downward in the Z direction of the upper cylindrical portion along the upper cylindrical portion, and a connecting structure connecting the upper cylindrical portion and the lower cylindrical portion. The upper cylindrical portion and the lower cylindrical portion of each diagonal reinforcing member 11H are respectively connected to the upper cylindrical portion and the lower cylindrical portion of the mating member via a joint 11G. Since the upper cylindrical portion, the lower cylindrical portion, and the connecting structure are also the same as those of the left member 11L or the like, the detailed description thereof is omitted.

[0049] (Front reinforcing member) The front reinforcing member 11J includes a front reinforcing cross bar 11J1 extending in the Y direction and disposed in front of the chair 21, and a front reinforcing vertical bar 11J2 extending in the X direction and disposed in front of the chair 21. The left end portion of the front reinforcing cross bar 11J1 is connected to the left member 11L (for example, the upper cylindrical portion) via a joint 11G, and the right end portion of the front reinforcing cross bar 11J1 is connected to the right member 11R (for example, the upper cylindrical portion) via a joint 11G. The rear end portion of the front reinforcing vertical bar 11J2 is connected to the central portion in the Y direction of the front reinforcing cross bar 11J1 via a joint 11G, and the front end portion of the front reinforcing vertical bar 11J2 is connected to the central portion in the Y direction of the front member 11F (for example, the upper cylindrical portion) via a joint 11G.

[0050] (Rear reinforcing member) The rear reinforcing member 11K includes a rear reinforcing cross bar 11K1 extending in the Y direction and disposed behind the chair 21, and a rear reinforcing vertical bar 11K2 extending in the X direction and disposed behind the chair 21. The left end portion of the rear reinforcing cross bar 11K1 is connected to the left member 11L (for example, the upper cylindrical portion) via a joint 11G, and the right end portion of the rear reinforcing cross bar 11K1 is connected to the right member 11R (for example, the upper cylindrical portion) via a joint 11G. The rear end portion of the rear reinforcing vertical bar 11K2 is connected to the central portion in the Y direction of the rear reinforcing cross bar 11K1 via a joint 11G, and the front end portion of the rear reinforcing vertical bar 11K2 is connected to the central portion in the Y direction of the front member 11F (for example, the upper cylindrical portion) via a joint 11G.

[0051] The diagonal reinforcing member 11H, the front reinforcing member 11J, and the rear reinforcing member 11K improve the rigidity of the frame body, which consists of the front member 11F, the rear member 11B, the left member 11L, and the right member 11R.

[0052] Furthermore, passengers can get on and off the chair 21 by stepping over or climbing over the left member 11L and the right member 11R located on either side of the chair 21. In particular, since there are no other members to the left of the left member 11L or to the right of the right member 11R, passengers who are about to board can approach the chair 21 in the Y direction.

[0053] (Rotor) As shown in Figures 3-4 and 6, the rotor 11T is driven by the motor 11M and is, for example, a propeller-shaped rotor. Preferably, the rotor 11T has multiple propeller-shaped rotors. When the rotor 11T is driven by the motor 11M, the rotors rotate at a rotational speed in a predetermined rotational direction, thereby generating lift or thrust for the rotorcraft 2. Note that the rotor may be a helicopter rotor instead of a propeller-shaped rotor.

[0054] In the front member 11F, rotors 11T are provided at both ends in the Y direction on the upper surface 11F1T of the upper cylindrical portion 11F1, and rotors 11T are also provided at both ends in the Y direction on the lower surface 11F2U of the lower cylindrical portion 11F2. In the rear member 11B, rotors 11T are provided at both ends in the Y direction on the upper surface of the upper cylindrical portion 11B1, and rotors 11T are also provided at both ends in the Y direction on the lower surface of the lower cylindrical portion 11B2. In the front member 11F and the rear member 11B, it is preferable that the rotors 11T provided on the upper surface of the upper cylindrical portion and the rotors 11T provided on the lower surface of the lower cylindrical portion are symmetrical with respect to the frame 11 (i.e., the XY plane). Here, in the upper cylindrical portion and lower cylindrical portion of the front member 11F and rear member 11B, the portion from the left end (first position) where the rotor 11T is installed to the right end (second position) where the rotor 11T is installed is referred to as the frame portion. The number and position of the installed rotors 11T are not particularly limited and can be determined, for example, according to the number and position of the installed motors 11M. Furthermore, the number of blades installed on each rotor 11T is not particularly limited. For example, the rotor 11T may be a contra-rotating propeller or the like.

[0055] (Motor) The motor 11M supplies the driving force to rotate the rotor 11T, and obtains energy from the battery device 40 (Figure 1) by the control device 80 (Figure 1). As shown in Figures 3 and 6, the motor 11M is provided in the vicinity of the rotor 11T to be driven. Specifically, one motor 11M is provided on the upper surfaces 11F1T of both ends in the Y direction of the upper cylindrical portion 11F1 of the front member 11F, the lower surfaces 11F2U of both ends in the Y direction of the lower cylindrical portion 11F2 of the front member 11F, the upper surfaces 11B1T of both ends in the Y direction of the upper cylindrical portion of the rear member 11B, and the lower surfaces 11B2U of both ends in the Y direction of the lower cylindrical portion of the rear member 11B. The number and position of the motors 11M are not particularly limited.

[0056] (Upper Frame) As shown in Figures 1 and 3, the upper frame 12 is for the safety of passengers in the passenger seat 20 and is positioned above the chair 21. The upper frame 12 comprises a front upper frame section 12F provided in front of the chair 21, a rear upper frame section 12B provided behind the chair 21, a left upper frame section 12L (second one-sided upper frame section) provided on the left side of the chair 21, a right upper frame section 12R (second other-sided upper frame section) provided on the right side of the chair 21, and a joint 12G.

[0057] As shown in Figures 3 and 8, the front upper frame section 12F and the rear upper frame section 12B each extend in the Y direction. The front upper frame section 12F is located behind the front member 11F, and the rear upper frame section 12B is located almost directly above the rear member 11B.

[0058] The left upper frame section 12L extends to connect the left end of the front upper frame section 12F to the left end of the rear upper frame section 12B. The left upper frame section 12L comprises the front upper frame section 12LF, the rear upper frame section 12LB, and the middle upper frame section 12LC.

[0059] The upper frame intermediate section 12LC is positioned above the front upper frame section 12F and the rear upper frame section 12B, extending in the X direction. The upper frame front section 12LF connects the front end of the upper frame intermediate section 12LC to the left end of the front upper frame section 12F, and gradually decreases in height from the front end of the upper frame intermediate section 12LC towards the left end of the front upper frame section 12F. The upper frame rear section 12LB connects the rear end of the upper frame intermediate section 12LC to the left end of the rear upper frame section 12B, and gradually decreases in height from the rear end of the upper frame intermediate section 12LC towards the left end of the rear upper frame section 12B.

[0060] The right upper frame section 12R extends from the right end of the front upper frame section 12F to the right end of the rear upper frame section 12B.

[0061] The right upper frame section 12R comprises an upper frame front section 12RF, an upper frame rear section 12RB, and an upper frame middle section 12RC. The upper frame front section 12RF, the upper frame rear section 12RB, and the upper frame middle section 12RC have the same structure as the upper frame front section 12LF, the upper frame rear section 12LB, and the upper frame middle section 12LC, respectively.

[0062] The joint 12G connects the left end of the front upper frame section 12F to the front end of the left upper frame section 12L. The joint 12G also connects the right end of the front upper frame section 12F to the front end of the right upper frame section 12R. Similarly, the joint 12G connects the left end of the rear upper frame section 12B to the rear end of the left upper frame section 12L. The joint 12G also connects the right end of the rear upper frame section 12B to the rear end of the right upper frame section 12R. As a result, the front upper frame section 12F, the right upper frame section 12R, the rear upper frame section 12B, and the left upper frame section 12L are connected to each other in a plan view from the Z direction, arranged to surround the chair 21.

[0063] The upper frame 12 is preferably symmetrical with respect to the reference plane SF. In particular, the left upper frame portion 12L and the right upper frame portion 12R are preferably symmetrical with respect to the reference plane SF.

[0064] As shown in Figures 5 and 8, in a plan view from the Z direction, the reference frame 11 and the upper frame 12 coincide with the rotation trajectory 11TR of the rotor 11T. More specifically, the rotation trajectory 11TR of the front left rotor 11T coincides with the front member 11F and the left member 11L, as well as the front upper frame section 12F and the left upper frame section 12L. Similarly, the rotation trajectory 11TR of the front right rotor 11T coincides with the front member 11F and the right member 11R, as well as the front upper frame section 12F and the right upper frame section 12R. Likewise, the rotation trajectory 11TR of the rear left rotor 11T coincides with the rear member 11B and the left member 11L, as well as the rear upper frame section 12B and the left upper frame section 12L. Furthermore, the rotational trajectory 11TR of the rear right rotor 11T overlaps with the rear member 11B and the right member 11R, as well as the rear upper frame portion 12B and the right upper frame portion 12R.

[0065] In a plan view in the Z direction, it is preferable that the chair 21 is exposed between the left upper frame portion 12L and the right upper frame portion 12R. This allows for getting on and off the chair 21 through the space between the left upper frame portion 12L and the right upper frame portion 12R. It is preferable that the distance between the left upper frame portion 12L and the right upper frame portion 12R is greater than or equal to the width of the chair 21.

[0066] (Upper support structure) As shown in Figures 3 and 8, the upper support structure 13 comprises a front support structure 13F (front upper support section) provided in front of the chair 21, a rear support structure 13B (rear upper support section) provided behind the chair 21, a left support structure 13L (second one-sided upper support frame section) provided on the left side of the chair 21, a right support structure 13R (second other-sided upper support frame section) provided on the right side of the chair 21, and a joint 13G.

[0067] The front support structure 13F is for supporting the front upper frame section 12F and extends from the front reinforcing member 11J (for example, the front reinforcing vertical bar 11J2) to the center of the front upper frame section 12F in the Y direction. The front support structure 13F is also connected to the front upper frame section 12F and the center of the front upper frame section 12F in the Y direction via a joint 13G.

[0068] The left-side support structure 13L is for supporting the left-side upper frame section 12L, and extends from the middle of the left member 11L to the middle of the left-side upper frame section 12L (particularly the front part 12LF of the upper frame). The left-side support structure 13L is also connected to the middle of the left member 11L and the middle of the left-side upper frame section 12L via a joint 13G.

[0069] The right-side support structure 13R is for supporting the right-side upper frame section 12R, and extends from the middle of the right-side member 11R to the middle of the right-side upper frame section 12R (particularly the front part 12RF of the upper frame). The right-side support structure 13R is also connected to the middle of the right-side member 11R and the middle of the right-side upper frame section 12R via a joint 13G.

[0070] The rear support structure 13B is for supporting the rear upper frame section 12B and extends from the rear reinforcing member 11K (for example, the rear reinforcing vertical bar 11K2) to the center of the rear upper frame section 12B in the Y direction. The rear support structure 13B is also connected to the rear upper frame section 12B and the center of the rear upper frame section 12B in the Y direction via a joint 13G.

[0071] The front support structure 13F is positioned diagonally such that its lower end is in front of its upper end. The left support structure 13L is positioned diagonally such that its lower end is behind its upper end. Similarly, the right support structure 13R is positioned diagonally such that its lower end is behind its upper end. The rear support structure 13B is positioned diagonally such that its lower end is in front of its upper end.

[0072] The upper support structure 13 is preferably symmetrical with respect to the reference plane SF. In particular, the left support structure 13L and the right support structure 13R are preferably symmetrical with respect to the reference plane SF.

[0073] Here, the front support structure 13F is positioned between the rotational trajectories 11TR of the left and right front rotors 11T in the Y direction. This allows the left and right front rotors 11T to be brought closer together. Furthermore, the front support structure 13F is tilted backward, and its lower end is positioned behind the rotation centers of the left and right front rotors 11T. This allows the left and right front rotors 11T to be brought even closer together. Similarly, the rear support structure 13B is positioned between the rotational trajectories 11TR of the left and right rear rotors 11T, thus allowing the left and right rear rotors 11T to be brought closer together. Furthermore, the rear support structure 13B is tilted backward, and its lower end is positioned in front of the rotation centers of the left and right rear rotors 11T. This allows the left and right front rotors 11T to be brought even closer together.

[0074] Furthermore, since the front support structure 13F is positioned to tilt backward, the volume occupied by the rotorcraft 2 can be reduced compared to when the front support structure 13F is provided vertically or positioned to tilt forward. Also, because the left support structure 13L and the rear support structure 13B are tilted forward, a wide opening necessary for getting on and off the seat 21 can be secured. Similarly, since the rear support structure 13B is provided in the center of the reference frame 11 and the upper support structure 13 in the Y direction, a wide opening necessary for getting on and off the seat 21 can be secured. Also, since the rear support structure 13B is positioned to tilt backward, the volume occupied by the rotorcraft 2 can be reduced compared to when the rear support structure 13B is provided vertically or positioned to tilt forward, and a wide opening necessary for getting on and off the seat 21 can be secured.

[0075] (Lower Frame) As shown in Figures 4, 9 and 10, the lower frame 14 is positioned below the chair 21 and comprises a left leg portion 14L positioned on the left side of the chair 21, a right leg portion 14R positioned on the right side of the chair 21, a front leg connecting lateral member 14F positioned in front of the chair 21, a rear leg connecting lateral member 14B positioned behind the chair 21, a leg connecting lateral member 14H connecting the front leg connecting lateral member 14F and the rear leg connecting lateral member 14B, a chair support rod member 14K connected to the leg connecting lateral member 14H, and joints connecting each of the members.

[0076] The left leg portion 14L and the right leg portion 14R are arranged in the Y direction with a predetermined distance between them, and each extends in the X direction.

[0077] The front leg connecting lateral member 14F comprises a horizontal rod portion 14FH extending in the Y direction and downward extension portions 14FU extending downward from both ends of the horizontal rod portion 14FH. The height of the horizontal rod portion 14FH is located below the rotation trajectory 11TR of the rotor 11T, which is provided below the reference frame 11. The lower ends of the left and right downward extension portions 14FU connect the front part of the left leg portion 14L and the front part of the right leg portion 14R.

[0078] The lower frame 14 is preferably symmetrical with respect to the reference plane SF (Figure 8).

[0079] The rear leg connecting lateral member 14B comprises a horizontal rod portion 14BH extending in the Y direction and downward extension portions 14BU extending downward from both ends of the horizontal rod portion 14BH. The height of the horizontal rod portion 14BH is located below the rotation trajectory 11TR of the rotor 11T, which is provided below the reference frame 11. The lower ends of the left and right downward extension portions 14BU connect the rear part of the left leg portion 14L and the rear part of the right leg portion 14R.

[0080] Two leg connecting lateral members 14H are provided in the Y direction at a predetermined interval. Each leg connecting lateral member 14H extends in the X direction. Preferably, one leg connecting lateral member 14H is provided on each of the left and right sides of the chair 21.

[0081] The chair support rod members 14K are for supporting the chair 21 and are positioned below the chair 21. The chair support rod members 14K extend in the Y direction, and it is preferable that two of them are provided at a predetermined distance apart in the X direction. The left end of each chair support rod member 14K is connected to the left leg connecting horizontal member 14H, and the right end of each chair support rod member 14K is connected to the right leg connecting horizontal member 14H.

[0082] (Lower Support Structure) The lower support structure 15 is a rod-shaped member extending in the Z direction, and two are provided on each of the front leg connecting lateral member 14F and the rear leg connecting lateral member 14B. Here, it is preferable that the lower support structure 15 be positioned on both the left and right sides of the chair 21 in the Y direction. One lower support structure 15 is provided on each side of the horizontal rod portion 14FH of the front leg connecting lateral member 14F. One lower support structure 15 is provided on each side of the horizontal rod portion 14BH of the rear leg connecting lateral member 14B. The lower support structure 15 provided on the left side of the front leg connecting lateral member 14F and the left side of the rear leg connecting lateral member 14B are connected to the middle portion of the left member 11L via a joint 15G. Similarly, the lower support structure 15 provided on the right side of the front leg connecting lateral member 14F and the right side of the rear leg connecting lateral member 14B are connected to the middle portion of the right member 11R via a joint 15G.

[0083] The lower support structure 15 is preferably symmetrical with respect to the reference plane SF (Figure 8).

[0084] Each of the lower support structures 15 is positioned inward in the Y direction from the downward extensions 14FU and 14BU. As described above, the horizontal rods 14FH and 14BH are positioned horizontally, and their height is below the rotation trajectory 11TR of the rotor 11T located below the reference frame 11. This allows the front left and right rotors 11T and the rear left and right rotors 11T to be brought closer together in the X and Y directions.

[0085] The forming materials for the upper cylindrical portion, lower cylindrical portion and each component that constitute the reference frame 11, as well as the forming materials for each component that constitutes the rotor blade aircraft frame unit 10, are preferably metal (for example, light metals such as aluminum), fiber-reinforced resin, etc.

[0086] (Passenger seat) As shown in Figures 1 and 10, the passenger seat 20 comprises a chair 21 located above the lower frame 14 and a platform 22 positioned below the chair 21.

[0087] (Chair) As shown in Figure 5, the chair 21 is provided in the space 11X enclosed by the front member 11F, the rear member 11B, the left member 11L, and the right member 11R. In the X direction, it is preferable that the chair 21 is positioned between the front reinforcing crossbar 11J1 and the rear reinforcing crossbar 11K1. The material used to form the chair 21 is preferably metal (for example, light metal such as aluminum), plastic, fiber-reinforced resin, etc. As shown in Figure 10, the chair 21 comprises a seat portion 21Z, a back portion 21S that is provided to stand upright from the rear end of the seat portion 21Z, and a protruding member 21T.

[0088] Preferably, the seat surface of the seat portion 21Z is angled downward in the Z direction from the front end to the rear end. Preferably, the backrest portion 21S is angled upward in the Z direction from the front end to the rear end. As described above, the rear support structure 13B (Figure 1) is positioned behind the backrest portion 21S and is angled so that its lower end is in front of its upper end. This allows for a reduction in the height of the rotorcraft 2 while ensuring the safety of the passenger seat 20 and smooth boarding and alighting from the passenger seat 20.

[0089] As shown in Figures 9-10, the protruding member 21T supports the seat portion 21Z from below and is provided to protrude upward from the chair support rod member 14K. Preferably, the protruding member 21T is provided on the front of the two chair support rod members 14K. Preferably, the back portion 21S is close to the rear reinforcing crossbar 11K1. This allows the rear reinforcing crossbar 11K1 to support the back portion 21S from the rear when the back portion 21S undergoes elastic deformation.

[0090] The front member 11F, rear member 11B, left member 11L, and right member 11R are preferably positioned in the Z direction between the upper end of the chair 21 (particularly the upper end of the backrest 21S) and the lower end of the chair 21 (particularly the upper end of the backrest 21S). The front member 11F, rear member 11B, left member 11L, and right member 11R improve the protective effect on the occupant sitting in the chair 21. As described above, the left support structure 13L and the right support structure 13R (Figure 1) are positioned diagonally such that their lower ends are behind their upper ends, thereby preventing the occupant sitting in the chair 21 from being inadvertently thrown outside the reference frame 11.

[0091] (Base) As shown in Figures 10 to 11, the mounting base 22 comprises a base body 22A positioned below the chair 21, a footrest plate 22B provided on the base body 22A, four vertical support rods 22C extending upward in the Z direction from the base body 22A, a vertical rod 22D extending upward in the Z direction from the footrest plate 22B, an opening / closing device 22E provided on the vertical support rods 22C, an opening / closing device locking member 22F, leg guard rod members 22G extending left and right from the vertical rods 22D, and a leg guard plate 22P (Figure 12).

[0092] The base body 22A is formed in the shape of a plate or frame and is arranged to be horizontal. Preferably, the front end 22AF of the base body 22A substantially coincides with the front end of the chair 21 in the X direction. Preferably, the footrest plate 22B comprises a horizontal footrest portion 22BH extending horizontally from the front end of the base body 22A and an inclined footrest portion 22BS extending diagonally upward from the front end of the horizontal footrest portion 22BH. Preferably, the base body 22A and the footrest plate 22B are integrated.

[0093] As shown in Figure 4, of the four vertical support rods 22C, two are located at the front ends 22AF of the base body 22A, with one on each side of the chair 21. The upper ends of these two vertical support rods 22C are connected to the front leg connecting lateral members 14F via joints 11G. The remaining two of the four vertical support rods 22C are located at the rear of the base body 22A, with one on each side of the chair 21. The upper ends of these two vertical support rods 22C are connected to the rear leg connecting lateral members 14B via joints 11G.

[0094] As shown in Figures 10-11, the lower end of the vertical rod 22D is preferably positioned at, for example, the front end of the horizontal footrest 22BH, or at the boundary between the horizontal footrest 22BH and the inclined footrest 22BS. The upper end 22DT of the vertical rod 22D is connected to the reference frame 11 (for example, the front reinforcing vertical rod 11J2) via a joint (Figures 4 and 5).

[0095] As shown in Figures 10 and 12, it is preferable that the footrest plate 22B (especially the inclined footrest portion 22BS) be positioned lower than the rotation trajectory 11TR of the rotor 11T in the Z direction. This allows the footrest plate 22B (especially the inclined footrest portion 22BS) to overlap with the rotation trajectory 11TR of the rotor 11T in a plan view from the Z direction. This makes it possible to reduce the spacing between the rotors 11T. As a result, the dimensions of the reference frame 11 can be made smaller not only in the X and Y directions but also in the Z direction.

[0096] The lower support structure 15 is positioned inward in the Y direction (i.e., closer to the chair 21) than the downward extensions 14FU and 14BU. As described above, the horizontal rods 14FH and 14BH are positioned horizontally, and their height is below the rotation trajectory 11TR of the rotor 11T, which is located below the reference frame 11. As a result, in a plan view from the Z direction, the lower frame 14 overlaps with the rotation trajectory 11TR of the rotor 11T. This makes it possible to reduce the spacing between the rotors 11T. Consequently, the dimensions of the reference frame 11 can be reduced not only in the X and Y directions but also in the Z direction by the lower frame 14 and the lower support structure 15.

[0097] As shown in Figures 10-11, the opening / closing mechanisms 22E are provided to extend in the Y direction and are positioned on the left and right sides of the chair 21. The front end of the left opening / closing mechanism 22E is connected via a hinge (not shown) to the left front vertical support rod 22C, one of the four vertical support rods 22C provided, and the rear end of the left opening / closing mechanism 22E is connected via a hinge (not shown) to the left rear vertical support rod 22C. The front end of the right opening / closing mechanism 22E is connected via a hinge (not shown) to the right front vertical support rod 22C, one of the four vertical support rods 22C provided, and the rear end of the right opening / closing mechanism 22E is connected via a hinge (not shown) to the right rear vertical support rod 22C. These hinges allow the opening / closing mechanisms 22E to rotate around the X direction. This rotational operation allows the opening / closing device 22E to switch between an open state and a closed state for the opening of the storage space 22X formed between the base body 22A and the leg connecting horizontal member 14H. For example, in the open state, the opening / closing device 22E has its rotation base end and rotation tip oriented horizontally (Figure 10), while in the closed state, the rotation tip of the opening / closing device 22E is positioned vertically above the rotation base end.

[0098] The opening / closing mechanism locking member 22F restricts the switching of the opening / closing mechanism 22E from the closed state to the open state. For example, as shown in Figure 10, the base end of the opening / closing mechanism locking member 22F is provided on the leg connecting horizontal member 14H. On the other hand, the tip of the opening / closing mechanism locking member 22F can be fastened to the opening / closing mechanism 22E. When the tip of the opening / closing mechanism locking member 22F is fastened to the opening / closing mechanism 22E, the switching of the opening / closing mechanism 22E from the closed state to the open state is restricted. This prevents the load placed in the storage space 22X from falling. Furthermore, it is preferable that the opening / closing mechanism 22E is positioned above the base body 22A in both the open and closed states. This allows the opening / closing mechanism 22E to cross the opening of the storage space 22X even when it is in the open state, and allows the load to be loaded and unloaded from the opening of the storage space 22X above the opening / closing mechanism 22E. As a result, the items loaded into the storage space 22X are less likely to fall off the main body 22A of the platform.

[0099] As shown in Figures 10-11, the leg guard bar member 22G is formed in a rod shape. The leg guard bar member 22G is positioned in front of the chair 21 and preferably above the footrest plate 22B. The leg guard bar member 22G includes one extending to the left from the vertical bar 22D and one extending to the right from the vertical bar 22D. The former is preferably provided to extend horizontally at a predetermined interval in the Z direction. The upper of the former is preferably connected to the reference frame 11 (for example, the lower surface of the lower cylindrical part of the left member 11L) via a joint (Figure 5). The lower of the former is preferably connected to the lower frame 14 (for example, the front leg connecting horizontal member 14F) via a joint (Figure 4). The latter is preferably provided to extend horizontally at a predetermined interval in the Z direction. The upper of the latter is preferably connected to the reference frame 11 (for example, the lower surface of the lower cylindrical part of the right member 11R) via a joint (Figure 5). Of the latter, the one located lower down is preferably connected to the lower frame 14 (for example, the front leg connecting lateral member 14F) (Figure 4).

[0100] As shown in Figure 11, of the leg guard bar members 22G extending left and right from the vertical bar 22D, the one provided below is preferably lower in the Z direction than the seat 21Z. Furthermore, it is preferable that these leg guard bar members 22G are positioned lower in the Z direction than the rotation trajectory 11TR of the rotor 11T provided below. As mentioned above, in a plan view from the Z direction, the footrest plate 22B (especially the inclined footrest portion 22BS) overlaps with the rotation trajectory 11TR of the rotor 11T. The lower end of the vertical bar 22D is positioned, for example, at the front end of the horizontal footrest portion 22BH, or at the boundary between the horizontal footrest portion 22BH and the inclined footrest portion 22BS. Therefore, the leg guard bar members 22G prevent the legs (especially the shins) of the passenger sitting in the chair 21 from entering the rotation trajectory of the rotor 11T. It is preferable that the footrest plate 22B (especially the inclined footrest portion 22BS) and the lower leg guard bar member 22G are separated by a predetermined distance in the Z direction. This allows the rider's feet (from the ankle down) to extend from between the footrest plate 22B (especially the inclined footrest portion 22BS) and the leg guard bar member 22G.

[0101] As shown in Figures 5 and 12, the leg guard plate 22P is attached to the leg guard rod members 22G, which are provided on the left and right sides with respect to the vertical rod 22D. More specifically, the leg guard plate 22P is provided to the leg guard rod members 22G, which are arranged at predetermined intervals in the Z direction.

[0102] (Operation Panel) As shown in Figure 2, the operation panel 30 is located in front of the chair 21 and is attached to the upper frame 12 or the upper support structure 13. The operation panel 30 is electrically connected to the control device 80 via predetermined wiring and includes a power button for switching the power ON and OFF for the rotorcraft 2, an operation lever for inputting hovering, movement, etc. of the rotorcraft 2, a display device for showing the status of the rotorcraft 2, and other buttons and levers. When the control device 80 detects the operation of various buttons and levers attached to the operation panel 30, it supplies power from the battery device 40 to predetermined components and devices such as the motor 11M based on the operation.

[0103] Furthermore, it is preferable that the operation panel 30 be positioned above the seat 21Z. Here, it is preferable that the left support structure 13L and the right support structure 13R are positioned diagonally such that their lower ends are behind their upper ends. This makes it possible for the panel surface (display surface) of the operation panel 30 to be positioned diagonally such that its lower end is behind its upper end. In other words, the left support structure 13L and the right support structure 13R also serve as a mechanism for attaching the operation panel 30.

[0104] Furthermore, in a plan view from the Z direction, it is preferable that the control panel 30 overlaps with the seat 21Z (especially the front portion). This prevents the occupant sitting in the chair 21 from being inadvertently thrown outside the reference frame 11.

[0105] (Control device) The control device 80 electrically connects to each device and component installed on the rotary-wing aircraft 2. As shown in Figure 13, the control device 80 includes a flight controller 81, cameras / sensors 82, a gimbal 83, and an ESC 84.

[0106] The flight controller 81 comprises one or more processors, such as programmable processors (e.g., central processing unit (CPU)), and memory (not shown) accessible by the CPU. The memory stores logic, code, and / or program instructions that the flight controller 81 can execute to perform one or more steps. The memory may include, for example, a separable medium such as an SD card or random access memory (RAM), or an external storage device. Data acquired from the cameras / sensors 82 may be transmitted directly to and stored in the memory.

[0107] The flight controller 81 includes a control module configured to control the state of the aircraft. For example, the control module controls the aircraft's propulsion mechanism (motor 11M, etc.) via an ESC (Electric Speed ​​Controller) 84 to adjust the spatial position, velocity, and / or acceleration of the aircraft, which has six degrees of freedom (translational motion x, y, and z, and rotational motion θx, θy, and θz). The control module can control one or more of the states of the onboard components and sensors.

[0108] The camera / sensor array 82 includes inertial sensors (accelerometers, gyroscopes), GPS sensors, proximity sensors (e.g., LiDAR), or vision / image sensors (e.g., cameras).

[0109] When the flight controller 81 detects signals transmitted from the control panel 30, cameras / sensors 82, or gimbal 83, it performs predetermined calculations based on those signals, controls the motor 11M via the ESC 84, or outputs predetermined information to the display device of the control panel 30.

[0110] Next, we will explain how to use the rotary-wing aircraft 2.

[0111] When the motor 11M is driven under the control of the flight controller 81 by operating the control panel 30, the rotor 11T provided on the reference frame 11 rotates in a predetermined direction at a rotational speed.

[0112] For example, when the rotary-wing aircraft 2 attempts to hover, the flight controller 81 detects signals from the cameras / sensors 82 and the gimbal 83 and individually drives each motor 11M to create conditions that enable hovering. At this time, for example, in the front member 11F, lift is generated at the position where the rotor 11T is installed, that is, at the left end of the front member 11F in the Y direction (first position) and at the right end of the front member 11F in the Y direction (second position). Consequently, upward forces are generated at both ends of the front member 11F, causing the central part of the front member 11F to bend due to the weight of the parts connected to the front member 11F and the weight of the front member 11F itself.

[0113] The bending of the central part of the front member 11F changes the thrust vector of the rotors 11T attached to both ends of the front member 11F. Also, the bending of the central part of the front member 11F changes the signals detected by the cameras / sensors 82 and the gimbal 83. Due to these factors, the flight controller 81 sends a new control signal to the rotors 11T in order to counteract the changes induced by the bending of the central part of the front member 11F in order to bring the attitude of the rotary-wing aircraft 2 to an ideal state. As a result, lift is generated at both ends of the front member 11F based on the new control signal, and the central part of the front member 11F bends. However, even if this is repeated, it becomes difficult to reduce the "deviation in the attitude of the rotary-wing aircraft 2 from the ideal state" induced by the bending of the front member 11F.

[0114] The deflection caused by the operation of the rotor 11T described above can occur not only in the central part of the front member 11F, but also in the central part of the rear member 11B. Furthermore, it can also occur in the left member 11L and the right member 11R connected to the front member 11F and the rear member 11B. In addition, the deflection caused by the operation of the rotor 11T is not limited to when the rotorcraft 2 is attempting to hover, but also occurs when it is moving in a predetermined direction.

[0115] In the rotorcraft 2, the reference frame 11, that is, the front member 11F and the rear member 11B, each have an upper cylindrical portion and a lower cylindrical portion connected so as to be parallel to each other, thereby reducing deflection caused by the operation of the rotor 11T. Similarly, in the rotorcraft 2, the left member 11L and the right member 11R each have an upper cylindrical portion and a lower cylindrical portion connected so as to be parallel to each other, thereby reducing deflection caused by the operation of the rotor 11T.

[0116] As shown in Figures 5 and 8, in the rotor-wing aircraft 2, in a plan view from the Z direction, the upper frame 12 can be positioned so as to overlap with the rotation trajectory 11TR of the rotor 11T. More specifically, the front upper frame section 12F and the left upper frame section 12L can be positioned so as to overlap with the rotation trajectory 11TR of the front left rotor 11T. Also, the front upper frame section 12F and the right upper frame section 12R can be positioned so as to overlap with the rotation trajectory 11TR of the front right rotor 11T. Similarly, the rear upper frame section 12B and the left upper frame section 12L can be positioned so as to overlap with the rotation trajectory 11TR of the rear left rotor 11T. Furthermore, the rear upper frame section 12B and the right upper frame section 12R can be positioned so as to overlap with the rotation trajectory 11TR of the rear right rotor 11T.

[0117] In this way, the distance between the rotors 11T can be reduced, so the dimensions of the reference frame 11 can be made smaller in the X, Y, and Z directions.

[0118] Furthermore, the front support structure 13F is positioned between the rotational trajectories 11TR of the front left and right rotors 11T. As a result, the front left and right rotors 11T can be brought closer together in the Y direction. Similarly, the rear support structure 13B is positioned between the rotational trajectories 11TR of the rear left and right rotors 11T. As a result, the rear left and right rotors 11T can be brought closer together in the Y direction. Consequently, the upper support structure 13 supports the upper frame 12 and allows the dimensions of the reference frame 11 to be reduced not only in the X and Y directions but also in the Z direction.

[0119] Similarly, each of the lower support structures 15 is positioned inward in the Y direction from the downward extensions 14FU and 14BU. As described above, the horizontal rods 14FH and 14BH are positioned horizontally, and their height is below the rotation trajectory 11TR of the rotor 11T, which is located below the reference frame 11. As a result, in a plan view from the Z direction, the lower frame 14 coincides with the rotation trajectory 11TR of the rotor 11T. Consequently, the dimensions of the reference frame 11 can be reduced not only in the X and Y directions but also in the Z direction by the lower frame 14 and the lower support structures 15.

[0120] Regarding the installation position of the front upper frame portion 12F in the Y direction, in the above embodiment, the front upper frame portion 12F was positioned in front of the chair 21, but the present invention is not limited to this. For example, the front upper frame portion 12F may be positioned directly above the chair 21.

[0121] Regarding the installation positions of the upper and lower ends of the front support structure 13F in the Y direction, in the above embodiment, the upper and lower ends were positioned in front of the chair 21, but the present invention is not limited thereto. For example, the upper end of the front support structure 13F may be positioned in front of the chair 21, while the lower end of the front support structure 13F may be positioned directly above the chair 21.

[0122] In the above embodiment, the lower end of the front support structure 13F is connected to the front reinforcing member 11J, but the present invention is not limited thereto, and the lower end of the front support structure 13F may be connected to the reference frame 11 (for example, the front member 11F, etc.). Similarly, in the above embodiment, the lower end of the rear support structure 13B is connected to the rear reinforcing member 11K, but the present invention is not limited thereto, and the lower end of the rear support structure 13B may be connected to the reference frame 11 (for example, the rear member 11B, etc.).

[0123] Regarding the installation positions of the upper and lower ends of the left support structure 13L and the rear support structure in the Y direction, in the above embodiment, the upper ends of each were positioned in front of the chair 21, while the lower ends of each were positioned to the left and right of the chair 21. However, the present invention is not limited to this. For example, the upper ends of the left support structure 13L and the rear support structure 13B may be in front of the chair 21, and the lower ends may be positioned to the rear of the chair 21. Alternatively, the upper and lower ends of the left support structure 13L and the rear support structure 13B may be positioned in front of the chair 21. Furthermore, the upper and lower ends of the left support structure 13L and the rear support structure 13B may be positioned to the left and right of the chair 21. Furthermore, the upper and lower ends of the left support structure 13L and the rear support structure 13B may be positioned to the rear of the chair 21.

[0124] Regarding the installation positions of the upper and lower ends of the rear support structure 13B in the Y direction, in the above embodiment, with respect to the rear-tilted rear support structure 13B, the upper and lower ends were positioned behind the chair 21, but the present invention is not limited thereto. For example, the upper end of the rear support structure 13B may be positioned behind the chair 21, while the lower end of the rear support structure 13B may be positioned to the left or right of the chair 21.

[0125] In the above embodiment, the diagonal reinforcing members 11H arranged on both the left and right sides of the chair 21 are provided with diagonal reinforcing members 11H connecting both ends of the front member 11F to the middle part of the left member 11L or the right member 11R, and diagonal reinforcing members 11H connecting both ends of the rear member 11B to the middle part of the left member 11L or the right member 11R. However, the present invention is not limited thereto. For example, as shown in Figure 14, the reference frame 11 may also be provided with parallel reinforcing members 11P. The parallel reinforcing member 11P is arranged parallel to the left member 11L on the left side in the Y direction, and both ends are connected to the front member 11F and the rear member 11B via joints 11G. Alternatively, the parallel reinforcing member 11P is arranged parallel to the right member 11R on the right side in the Y direction, and both ends are connected to the front member 11F and the rear member 11B via joints 11G.

[0126] The parallel reinforcing member 11P, like the diagonal reinforcing member 11H, can improve the rigidity of the frame body of the reference frame 11, and therefore may be used in place of the diagonal reinforcing member 11H. Furthermore, since the parallel reinforcing member 11P is arranged parallel to the left member 11L and the right member 11R, the parallel reinforcing member 11P, together with the left member 11L and the right member 11R, can be used as a step that can be used when passengers get on and off.

[0127] In the above embodiment, the front support structure 13F was tilted backward, but the present invention is not limited to this, and the front support structure 13F may be tilted forward (Figure 15). Similarly, in the above embodiment, the rear support structure 13B was tilted backward, but the present invention is not limited to this, and the rear support structure 13B may be tilted forward. Furthermore, in the above embodiment, the left support structure 13L and the rear support structure 13B were positioned in front of the chair 21, but the present invention is not limited to this. In this case, the left support structure 13L and the rear support structure 13B may be tilted backward.

[0128] The following describes a modified version of the rotorcraft 2, but only the parts that differ from the above embodiment will be described. The same names and reference numerals will be used for parts that are the same as those in the above-described disassembly, and detailed descriptions will be omitted.

[0129] As shown in Figures 15-16, the rotorcraft 2 comprises a rotorcraft frame unit 110, a cockpit 20, an operation panel 30, a battery device 40, and a control device 80 that controls each component and device.

[0130] The frame unit 110 for a rotary-wing aircraft comprises a reference frame 11, an upper frame 112 (subordinate frame) positioned above the reference frame 11 in the Z direction, an upper support structure 113 (subordinate frame support structure) provided on the reference frame 11 to support the upper frame 112, a lower frame 14 positioned below the reference frame 11 in the Z direction, and a lower support structure 15 provided on the reference frame 11 to support the lower frame 114.

[0131] The upper frame 112 is intended to ensure the safety of passengers in the passenger seat 20 and is positioned above the seat 21. The upper frame 112 comprises a front upper frame section 112F located in front of the seat 21, a rear upper frame section 112B located behind the seat 21, a left upper frame section 112L located on the left side of the seat 21, a right upper frame section 112R located on the right side of the seat 21, and joints.

[0132] The upper support structure 113 includes a front support structure 113F provided in front of the chair 21, a rear support structure 113B provided behind the chair 21, a left support structure 113L provided on the left side of the chair 21, and a right support structure 113R provided on the right side of the chair 21.

[0133] The front support structure 113F is for supporting the front upper frame section 112F and extends from the front reinforcing member 11J (Figure 8) to the center of the front upper frame section 112F in the Y direction. The left support structure 113L is for supporting the left upper frame section 112L and extends from the middle of the left member 11L to the middle of the left upper frame section 112L. The right support structure 113R is for supporting the right upper frame section 112R and extends from the middle of the right member 11R to the middle of the right upper frame section 112R. The rear support structure 113B is for supporting the rear upper frame section 112B and extends from the rear reinforcing member 11K (Figure 8) to the center of the rear upper frame section 112B in the Y direction.

[0134] The front support structure 113F is positioned diagonally such that its lower end is behind its upper end. The left support structure 113L is positioned diagonally such that its lower end is in front of its upper end. Similarly, the right support structure 13R is positioned diagonally such that its lower end is in front of its upper end. The rear support structure 13B is positioned diagonally such that its lower end is behind its upper end. It is preferable that the operation panel 30 is attached to the front support structure 113F. In other words, the front support structure 113F also serves as a mechanism for attaching the operation panel 30.

[0135] The front support structure 113F is positioned between the rotational trajectories 11TR of the front left and right rotors 11T. The front left and right rotors 11T, with the front support structure 113F tilted forward, can be brought closer together in the Y direction. Similarly, the rear support structure 113B is positioned between the rotational trajectories 11TR of the front left and right rotors 11T, and the rear support structure 113B is tilted forward. In addition, because the left support structure 113L and the rear support structure 113B are tilted backward, the rear left and right rotors 11T can be brought closer together in the Y direction. As a result, in the rotor-wing aircraft 2, in a plan view from the Z direction, the upper frame 112 can be positioned so as to overlap with the rotational trajectory 11TR of the rotors 11T. For this reason, the dimensions of the reference frame 11 can be made smaller in the X, Y, and Z directions.

[0136] In the above embodiment, the first position was set as the left end where the rotor 11T is installed and the second position as the right end where the rotor 11T is installed in the upper cylindrical portion (first frame portion) and lower cylindrical portion (second frame portion) of the front member 11F and the rear member 11B, respectively. However, the present invention is not limited to this, and the first position may be set as the position where the rotor 11T is installed and the second position as the position where the rotor 11T is installed.

[0137] In the above embodiment, the connecting structure in the front member 11F, rear member 11B, left member 11L, right member 11R, etc., extends from the left end to the right end of the upper cylindrical portion (Figure 17(A)), but the present invention is not limited thereto. For example, the connecting structure may be provided from the left end to the right end of the upper cylindrical portion with a predetermined interval CL5 (Figure 17(B)).

[0138] In the above embodiment, the connecting structure in the front member 11F, rear member 11B, left member 11L, right member 11R, etc., connects the upper cylindrical portion (first frame portion) and the lower cylindrical portion (second frame portion) with a single connecting structure, but the present invention is not limited to this. For example, as shown in Figure 18, the front member 11F may include an upper cylindrical portion 11F1, a lower cylindrical portion 11F2, a first connecting structure 11F51 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2, and a second connecting structure 11F52 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. The first connecting structure 11F51 and the second connecting structure 11F52 are formed in a plate shape and are arranged along the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. Furthermore, the first connecting structure 11F51 and the second connecting structure 11F52 extend from the left end to the right end of the upper cylindrical portion 11F1. The thickness direction of the connecting structure 11F5 is the X direction. When the line connecting the central axis AX1 of the upper cylindrical portion 11F1 and the central axis AX2 of the lower cylindrical portion 11F2 is defined as the reference line SL, it is preferable that the reference line SL passes between the first connecting structure 11F51 and the second connecting structure 11F52.

[0139] In the above embodiment, the front member 11F etc. is provided with a connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2, but the present invention is not limited thereto, and the connecting structure 11F5 may be omitted. For example, as shown in Figure 17(A), the front member 11F includes an upper cylindrical portion 11F1 extending in the X direction, and a lower cylindrical portion 11F2 positioned along the upper cylindrical portion 11F1 and below the upper cylindrical portion 11F1 in the Z direction. The lower surface 11F1U of the upper cylindrical portion 11F1 may be directly fixed to the upper surface 11F2T of the lower cylindrical portion 11F2 by welding or the like, or the upper cylindrical portion 11F1 and the upper cylindrical portion 11F1 may be integrated. Similarly, as shown in Figure 17(B), the front member 11F may comprise an upper cylindrical portion 11F1 extending in the X direction and a cylindrical shape, and a lower rectangular cylindrical portion 11F2 directly fixed to the upper cylindrical portion 11F1, or it may comprise an upper cylindrical portion 11F1 extending in the X direction and a cylindrical shape, and a lower rectangular cylindrical portion 11F2 integrated with the upper cylindrical portion 11F1. Here, the lower rectangular cylindrical portion 11F2 is formed in a rectangular cylindrical shape and extends in the X direction. Furthermore, the lower rectangular cylindrical portion 11F2 is positioned below the upper cylindrical portion 11F1 in the Z direction, along the upper cylindrical portion 11F1.

[0140] In the above embodiment, the members constituting the reference frame 11, such as the front member 11F, rear member 11B, left member 11L, and right member 11R, are provided with an upper cylindrical portion (first frame portion), a lower cylindrical portion (second frame portion), and a connecting structure. However, the present invention is not limited thereto, and instead of the upper cylindrical portion, an elliptical or rectangular upper cylindrical portion may be used as the first frame portion, and instead of the lower cylindrical portion, an elliptical or rectangular lower cylindrical portion may be used as the first frame portion. Here, the rectangular cylindrical shape can be any polygonal cylindrical shape such as a triangular, square, or hexagonal cylindrical shape. For example, the front member 11F shown in Figure 20(A) comprises a rectangular upper cylindrical portion 11F1, a rectangular lower cylindrical portion 11F2, and a connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. Furthermore, in the front member 11F shown in Figure 20(A), the connecting structure 11F5 may be omitted, and the front member 11F may be formed by directly welding a cylindrical upper cylindrical portion 11F1 and a rectangular cylindrical lower cylindrical portion 11F2 (Figure 20(B)). Moreover, as shown in Figure 20(C), the connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 may be a front member 11F comprising a first connecting structure 11F51 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2, and a second connecting structure 11F52 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2.

[0141] In the above embodiment, it was preferred that the distance CL1 between the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 be smaller than the diameter D1 of the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2, but the present invention is not limited thereto. If the upper cylindrical portion or the lower cylindrical portion is not cylindrical, such as a rectangular prism, it is preferred that the distance between the upper rectangular tube portion and the lower rectangular tube portion be smaller than the outer dimensions of the upper rectangular tube portion 11F1 and the lower rectangular tube portion 11F2.

[0142] In the above embodiment, the connecting structure 11F5 is formed in the shape of a plate, but the present invention is not limited to this, and it may be in a different shape, such as a rod, as long as it connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2.

[0143] In the above embodiment, the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 are arranged vertically, but the present invention is not limited to this, and the upper cylindrical portion 11F1 may be arranged diagonally upward as long as it is positioned higher than the lower cylindrical portion 11F2 (Figure 21(A)). In order to prevent horizontal deflection and vibration of the front member 11F, etc., the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 may be arranged horizontally (Figure 21(B)). Furthermore, the diagonal reinforcing member 11H has a structure similar to that of the left member 11L, etc., and comprises an upper cylindrical portion and a lower cylindrical portion positioned below the upper cylindrical portion in the Z direction, thereby making it possible to suppress horizontal deflection and vibration of the front member 11F, etc. Moreover, it is preferable that the diagonal reinforcing member 11H comprises a connecting structure that connects the upper cylindrical portion and the lower cylindrical portion.

[0144] In the above embodiment, the first frame portion and the second frame portion were cylindrical bodies (hollow rod members) such as an upper cylindrical portion and an upper rectangular cylindrical portion, but the present invention is not limited to these, and may also be solid rod members.

[0145] In the above embodiment of the reference frame 11, rotors 11T are provided at both ends of the front member 11F and the rear member 11B, but the present invention is not limited thereto. For example, in the reference frame 11 shown in Figure 22(A), the left end of the front member 11F is connected via a joint to the middle part of the left member 11L (for example, the middle part in front of the chair 21), and the right end of the front member 11F is connected via a joint to the middle part of the right member 11R (for example, the middle part in front of the chair 21). On the other hand, the left end of the rear member 11B is connected via a joint to the middle part of the left member 11L (for example, the middle part behind the chair 21), and the right end of the rear member 11B is connected via a joint to the middle part of the right member 11R (for example, the middle part behind the chair 21). Rotors 11T may also be provided at the front and rear ends of the left member 11L and the right member 11R, respectively. Furthermore, as shown in Figure 22(B), the left end of the front member 11F is connected to the front end of the left member 11L via a joint, and the right end of the front member 11F is connected to the front end of the right member 11R via a joint. On the other hand, the left end of the rear member 11B is connected to the rear end of the left member 11L via a joint, and the right end of the rear member 11B is connected to the rear end of the right member 11R via a joint. Rotors 11T may also be provided at the front and rear ends of the left member 11L and the right member 11R, respectively.

[0146] As shown in Figure 23(A), instead of the front member 11F, rear member 11B, left member 11L, and right member 11R, first rod-shaped members 11A1 to fourth rod-shaped members 11A4 having a structure similar to that of the front member 11F, etc., may be used. The first rod-shaped members 11A1 to fourth rod-shaped members 11A4 are arranged radially around the chair 21. The arrangement pitch of the first rod-shaped members 11A1 to fourth rod-shaped members 11A4 is 90 degrees. The base ends of the first rod-shaped members 11A1 to fourth rod-shaped members 11A4 are connected to each other. Rotors 11T may be provided at the tips of the first rod-shaped members 11A1 to fourth rod-shaped members 11A4. Furthermore, as shown in Figure 23(B), the base ends of the first rod-shaped member 11A1 to the second rod-shaped member 11A2 are connected, and the base ends of the third rod-shaped member 11A3 to the fourth rod-shaped member 11A4 are also connected. In addition, a fifth rod-shaped member 11A5 having a structure similar to that of the previous member 11F, etc., may connect the base ends of the first rod-shaped member 11A1 to the second rod-shaped member 11A2 and the base ends of the third rod-shaped member 11A3 to the fourth rod-shaped member 11A4.

[0147] Furthermore, in the reference frame 11 shown in Figures 22 and 23, an upper frame 12 may be provided above the reference frame 11 so as to surround the chair 21, and an upper support structure 13 (Figures 1, 5, 8) may be provided to support the upper frame 12. Similarly, in the reference frame 11 shown in Figures 22 and 23, an upper frame 112 may be provided above the reference frame 11 so as to surround the chair 21, and an upper support structure 113 (Figures 15, 16) may be provided to support the upper frame 112.

[0148] In the above embodiment, the chair 21 is supported by the chair support rod member 14K, but the present invention is not limited thereto, and the chair 21 may also be supported by a lower frame 14 other than the reference frame 11 and the chair support rod member 14K (for example, the front leg connecting lateral member 14F, the rear leg connecting lateral member 14B, and the leg connecting lateral member 14, etc.) or a lower support structure 115.

[0149] Although the rotorcraft 2 in the above embodiment was equipped with a passenger seat 20, the present invention is not limited thereto. Instead of the passenger seat 20, a platform on which luggage or other items can be placed may be provided.

[0150] In the above embodiment, the rotary-wing aircraft 2 was controlled under the control of the flight controller 81 by operating an operation panel 30 which is electrically connected to the control device 80 via predetermined wiring. However, the present invention is not limited to this. For example, the rotary-wing aircraft 2 may be controlled under the control of the flight controller 81 by operating a remote control or the like which is connected via wireless communication.

[0151] In the above embodiment, the front member 11F is provided with an upper cylindrical portion 11F1, a lower cylindrical portion 11F2, and a connecting structure 11F5. However, as long as it does not contradict the spirit of the present invention, the connecting structure 11F5 of the front member 11F may be omitted, or the connecting structure 11F5 and the lower cylindrical portion 11F2 of the front member 11F may be omitted. Similarly, the connecting structure may be omitted for the rear member 11B, the left member 11L, and the right member 11R, or the connecting structure and the lower cylindrical portion may be omitted.

[0152] It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention.

[0153] 2 Rotary-wing aircraft 10 Frame unit for rotary-wing aircraft 11 Reference frame 11B Rear member 11F Front member 11G-13G Joint 11L Left member 11M Motor 11R Right member 11T Rotor 11TR Rotation trajectory 12, 112 Upper frame 13, 113 Upper support structure 14 Landing gear structure 15 Landing gear support structure 20 Seat 21 Chair 21S Backrest 21T Protruding member 21Z Seat 22 Mounting platform 30 Control panel 40 Battery unit 80 Control device

Claims

1. A frame unit for a rotary-wing aircraft comprising: a main frame; a rotor provided on the main frame; a secondary frame disposed above or below the main frame; and a secondary frame support structure provided on the main frame for supporting the secondary frame, wherein, in a plan view taken from the direction in which the rotation axis of the rotor extends, the secondary frame coincides with the rotation trajectory of the rotor.

2. The frame unit for a rotary-wing aircraft according to claim 1, characterized in that the subordinate frame support structure comprises a first one-side subordinate frame support portion disposed on one side in a first direction, the main frame comprises a second one-side main frame portion disposed on one side in a second direction different from the first direction, and a second other-side main frame portion disposed on the other side in the second direction, and the first one-side subordinate frame support portion is disposed between the second one-side main frame member and the second other-side main frame member.

3. The frame unit for a rotary-wing aircraft according to claim 2, characterized in that the subordinate frame comprises an upper frame disposed above the main frame, the subordinate frame support structure is an upper support structure that supports the upper frame, the first one-side subordinate frame support portion comprises a first one-side upper support portion disposed on one side in the first direction, and the first one-side upper support portion is disposed between the second one-side main frame member and the second other-side main frame member.

4. The frame unit for a rotorcraft according to claim 2, wherein the subordinate frame comprises an upper frame positioned above the main frame, and when the direction in which the rotation axis of the rotor extends is defined as a third direction, the upper frame coincides with the rotation trajectory of the rotor in a plan view from the third direction.

5. The frame unit for a rotary-wing aircraft according to claim 3, further comprising a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, wherein the first one-sided upper support portion is a front-side upper support portion disposed in front of the passenger seat.

6. The frame unit for a rotary-wing aircraft according to claim 5, characterized in that the forward upper support portion is located in the center between the second main frame member and the second other main frame member in the second direction.

7. The rotor blade frame unit according to claim 5, characterized in that, when the direction in which the rotation axis of the rotor extends is defined as the third direction, in a plan view from the third direction, the rotation trajectory of the rotor exists between either the second one-sided main frame member or the second other-sided main frame member and the front upper support portion.

8. The frame unit for a rotary-wing aircraft according to claim 5, characterized in that the lower end of the front upper support portion is located forward of the upper end of the front upper support portion.

9. A frame unit for a rotorcraft according to claim 3, further comprising a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, wherein the upper frame comprises a second one-sided upper frame portion disposed on one side of the passenger seat in the second direction, and when the direction in which the rotation axis of the rotor extends is defined as the third direction, the second one-sided upper frame portion overlaps with the rotation trajectory of the rotor in a plan view from the third direction.

10. A frame unit for a rotorcraft according to claim 3, further comprising a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, wherein the upper frame comprises a second one-sided upper frame portion disposed on one side of the passenger seat in the second direction, and the upper support structure comprises a second one-sided upper support frame portion disposed on one side in the second direction, wherein, when the direction in which the rotation axis of the rotor extends is defined as the third direction, the upper end of the second one-sided upper support frame portion coincides with the rotation trajectory of the rotor in a plan view from the third direction.

11. The frame unit for a rotary-wing aircraft according to claim 3, further comprising a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, wherein the upper frame comprises a second one-sided upper frame portion disposed on one side of the passenger seat in the second direction, the upper support structure comprises a second one-sided upper support frame portion disposed on one side in the second direction, the upper end of the second one-sided upper support frame portion is located in front of the passenger seat, and the lower end of the second one-sided upper support frame portion is located behind the upper end of the second one-sided upper support frame portion.

12. The frame unit for a rotary-wing aircraft according to claim 11, wherein the passenger seat comprises a chair, the chair comprises a backrest and a seat, and in the height direction, the second one main frame portion and the second other main frame portion cross the backrest.

13. The frame unit for a rotary-wing aircraft according to claim 3, further comprising a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, wherein the upper frame comprises a second one-sided upper frame portion disposed on one side of the passenger seat in the second direction, the upper end of the second one-sided upper support frame portion is located behind the passenger seat, and the lower end of the second one-sided upper support frame portion is located forward of the upper end of the second one-sided upper support frame portion.

14. The frame unit for a rotary-wing aircraft according to any one of claims 9 to 13, wherein the upper support structure comprises a second other-side upper support frame portion disposed on the other side of the passenger seat in the second direction, and the second other-side upper support frame portion is symmetrical with respect to the passenger seat.

15. The frame unit for a rotary-wing aircraft according to claim 3, further comprising a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, wherein the first one-sided upper support portion is a rearward upper support portion disposed behind the passenger seat.

16. The frame unit for a rotary-wing aircraft according to claim 15, characterized in that the rear upper support portion is located in the center between the second main frame member and the second other main frame member in the second direction.

17. The rotor blade frame unit according to claim 15, characterized in that, when the direction in which the rotation axis of the rotor extends is defined as the third direction, in a plan view from the third direction, the rotation trajectory of the rotor exists between either the second one-sided main frame member or the second other-sided main frame member and the rear upper support portion.

18. The frame unit for a rotary-wing aircraft according to claim 15, characterized in that the lower end of the rear upper support portion is located forward of the upper end of the rear upper support portion.

19. The frame unit for a rotary-wing aircraft according to claim 15, wherein the subordinate frame support structure comprises a first other-side subordinate frame support portion arranged on the other side of the first direction (in front of / behind the passenger seat), and the first other-side subordinate frame support portion is a front-side upper support portion arranged in front of the passenger seat.

20. A frame unit for a rotary-wing aircraft according to any one of claims 9 to 13 and 15 to 19, further comprising a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, wherein the passenger seat comprises a chair, the chair comprises a backrest and a seat portion, and the lower end of the backrest is located forward of the upper end of the backrest.

21. The frame unit for a rotary-wing aircraft according to claim 3, further comprising a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, wherein the passenger seat is provided with a chair, and the upper frame comprises a second one-sided upper frame portion disposed on one side of the second direction and a second other-sided upper frame portion disposed on the other side of the second direction, wherein there is a gap between the second one-sided upper frame portion and the second other-sided upper frame portion to the extent that it is possible to get on and off the chair.

22. The frame unit for a rotary-wing aircraft according to claim 21, characterized in that the distance between the second upper frame portion on one side and the second upper frame portion on the other side in the second direction is greater than or equal to the width of the chair in the second direction.

23. The frame unit for a rotary-wing aircraft according to claim 3, further comprising a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, wherein the passenger seat comprises a chair, the chair comprises a backrest and a seat portion, and in the height direction, the second one-sided main frame portion and the second other-sided main frame portion cross the backrest.

24. The frame unit for a rotary-wing aircraft according to claim 2, characterized in that the subordinate frame comprises a lower frame disposed below the main frame, the subordinate frame support structure comprises a lower support structure provided on the main frame and supporting the lower frame, the lower support structure comprises a first one-side lower support portion disposed on one side in the first direction, and the first one-side lower support portion is disposed between the second one-side main frame member and the second other-side main frame member.

25. The rotor blade frame unit according to claim 2, characterized in that, when the direction in which the rotation axis of the rotor extends is defined as the third direction, the lower frame coincides with the rotation trajectory of the rotor in a plan view from the third direction.

26. The frame unit for a rotary-wing aircraft according to claim 25, further comprising a passenger seat disposed between the second one-sided main frame portion and the second other-sided main frame portion, wherein the first one-sided lower support portion comprises a front-side lower support portion disposed in front of the passenger seat.

27. The rotor blade frame unit according to claim 25 or 26, characterized in that, when the direction in which the rotation axis of the rotor extends is defined as the third direction, in a plan view from the third direction, the rotation trajectory of the rotor exists between either the one main frame member or the other main frame member and the front lower support portion.

28. The frame unit for a rotorcraft according to 26, wherein the passenger seat comprises a chair and a mounting platform provided below the chair, and when the direction in which the rotation axis of the rotor extends is defined as a third direction, in a plan view from the third direction, the portion of the mounting platform forward of the chair coincides with the rotation trajectory of the rotor.

29. The frame unit for a rotary-wing aircraft according to claim 28, wherein the passenger seat further comprises a rod member provided to stand upright from the mounting platform, and the rod member is located in the central part of the passenger seat in the second direction.

30. A frame unit for a rotary-wing aircraft according to any one of claims 1 to 13, 15 to 19, and 21 to 25.

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