Propulsion force generator

Abstract

A size of a propulsive force generator in an axial direction of a rotating shaft of an electric motor is reduced while a pitch angle of a rotating blade driven by the electric motor can be changed. The propulsive force generator (1) includes a propulsive force generating electric motor (2) configured to generate a propulsive force of a rotating blade (H1 to H3), a pitch changing electric motor (5) configured to generate a rotational motion for changing a pitch angle of the rotating blade (H1 to H3), a rotary-linear motion conversion unit (7) configured to convert the rotational motion generated by the pitch changing electric motor (5) into a linear motion, and a linear motion-rotary conversion unit (8) configured to convert the linear motion converted by the rotary-linear motion conversion unit (7) into a rotary motion. At least a part of the linear motion-rotary conversion unit (7) is located inside the propulsive force generating electric motor (2).

Description

TECHNICAL FIELD

[0001] The present application relates to a propulsive force generator. BACKGROUND

[0002] For example, a technique is disclosed in Patent Literature 1 in which the pitch angle of a propeller (rotor blade) is electrically adjusted without using hydraulic pressure, where the pitch angle is the installation angle with respect to the rotating shaft. In this technique, an operating lever is concentrically provided in a hollow rotating shaft so that it can move only in the axial direction, and an arm fixed to the lower end of the operating lever is connected to the support shaft of the blade through a link and lever mechanism. By reciprocating the operating lever in the axial direction, the installation angle of each blade is changed through the link and lever mechanism.

[0003] BACKGROUND ART

[0004] PATENT LITERATURE

[0005] Patent Literature 1: JP-A-5-87037 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, in the technique disclosed in Patent Literature 1, the threaded portion screwed into the top of the operating lever is aligned linearly with the electric motor, the electric motor is connected to the input shaft of the actuation mechanism, and the axial dimension of the entire device is large.

[0008] Therefore, an object of the present application is to provide a propulsive force generator that can change the pitch angle of a rotating blade driven by an electric motor while reducing the size of the propulsive force generator in the axial direction of the rotating shaft of the electric motor.

[0009] MEANS FOR SOLVING PROBLEMS

[0010] To solve the above problems, according to one aspect of the present application, there is provided a propulsive force generator including a first electric motor configured to generate a propulsive force of a rotating blade; a second electric motor configured to generate a rotational motion for changing a pitch angle of the rotating blade; a first conversion unit configured to convert the rotational motion generated by the second electric motor into a linear motion; a second conversion unit configured to convert the linear motion converted by the first conversion unit into a rotational motion, at least a part of the first conversion unit being located inside the first electric motor.

[0011] This reduces the amount by which the first conversion unit protrudes from the first electric motor in the axial direction of the rotating shaft of the first electric motor. Therefore, it is possible to make the propulsive force generator smaller in the axial direction of the rotating shaft of the first electric motor while the first electric motor generates a propulsive force of a rotating blade and the second electric motor changes a pitch angle of the rotating blade.

[0012] In the propulsion force generator according to one aspect of the present application, the first motor includes a rotating shaft having a hollow portion extending in an axial direction of the rotating shaft, and at least a portion of the first conversion unit is located in the hollow portion.

[0013] This allows at least a portion of the first conversion unit to be located in the first motor without expanding the first motor in the axial direction of the rotating shaft, thereby reducing the size of the propulsion force generator in the axial direction of the rotating shaft.

[0014] The propulsion force generator according to one aspect of the present application further includes a rotation transmission unit configured to transmit a rotational motion generated by the second motor in a direction perpendicular to a direction of a rotational axis of the second motor.

[0015] This makes it possible to arrange the rotational axes of the first motor and the second motor in parallel, and to locate at least a portion of the second motor in the first motor.

[0016] The propulsion force generator according to one aspect of the present application further includes a second conversion unit configured to convert a linear motion converted by the first conversion unit into a rotational motion, wherein the second conversion unit includes a hub configured to support the rotating blades, and at least a portion of the second conversion unit is located in the hub.

[0017] In this case, the space required to provide the second conversion unit can be reduced, and the propulsion force generator can be made smaller.

[0018] In the propulsion force generator according to one aspect of the present application, the second conversion unit includes: a linear mover including N surfaces corresponding to N rotating blades, N being a positive integer, the linear mover moving linearly in accordance with a linear motion converted by the first conversion unit; and N racks and N pinions corresponding to the N rotating blades, N racks of the N racks and N pinions being respectively supported by the N surfaces, and N pinions of the N racks and N pinions being respectively supported on side portions of support shafts of the N rotating blades.

[0019] In this case, the linear motion of a single linear mover can generate N rotational motions around the support shafts of the N rotating blades. Therefore, it is possible to make the pitch angles of the N rotating blades variable while the second conversion unit can be located in the hub.

[0020] In the propulsion force generator according to one aspect of the present application, the first conversion unit includes a ball screw.

[0021] This makes it possible to reduce the driving torque and to reduce the power consumption of the second motor compared to the case where a lead screw is used.

[0022] In the propulsive force generator according to one aspect of the present application, the first motor includes a stator and a rotor, and the ball screw includes a ball screw rod and a ball screw nut, wherein the ball screw rod is rotatably supported by a fixed member of the first motor, and the ball screw nut is screwed to the ball screw rod by a ball head and is guided to move linearly along a rotation axis.

[0023] This can convert the rotational motion of the ball screw rod to the linear motion of the ball screw nut.

[0024] The propulsive force generator according to one aspect of the present application further includes a linear motion transmission rod configured to transmit the linear motion converted by the first conversion unit to the second conversion unit, and the linear motion transmission rod is fixed to the ball screw nut of the ball screw, and the linear motion transmission rod includes a surface configured to limit the motion of the linear motion transmission rod to linear motion in the linear motion direction.

[0025] In this case, it is possible to prevent the ball screw nut from rotating when the ball screw rotates, and it is possible to convert the rotational motion of the ball screw rod to the linear motion of the ball screw nut and the linear motion transmission rod. In addition, by providing the linear motion transmission rod with a surface configured to limit the motion of the linear motion transmission rod to linear motion in the linear motion direction, there is no need for a member such as a linear guide configured to limit the motion of the linear motion transmission rod to linear motion in the linear motion direction, and the first conversion unit can be located in a hollow portion within the rotation axis of the first motor.

[0026] Effects of the Invention

[0027] According to one aspect of the present application, it is possible to reduce the size of the propulsive force generator in the axial direction of the rotation axis of the motor, while making the pitch angle of the rotating blade driven by the motor variable. BRIEF DESCRIPTION OF DRAWINGS

[0028] FIG. 1(a) is a perspective view of a propulsive force generator according to a first embodiment to which a rotating blade is attached.

[0029] FIG. 1(b) and FIG. 1(c) are side views of the rotating blade attached to the propulsive force generator according to the first embodiment, in which the pitch angle of the rotating blade is changed.

[0030] Figure 2 FIG. 1(d) is an exploded perspective view of the propulsive force generator in FIG. 1(a) seen from one side of the rotation axis.

[0031] Figure 3 FIG. 1(e) is an exploded perspective view of the propulsive force generator in FIG. 1(a) seen from the other side of the rotation axis.

[0032] FIG. 4(a) is a view showing the relationship between the pitch angle of the rotating blade and the rotational speed of the motor.Figure 2 A perspective view of the assembled configuration of the corresponding propulsion force generator.

[0033] Fig. 4(b) is a perspective view showing the configuration of the pitch changing motor, the rotary transmission unit, and the rotary-linear motion conversion unit of Fig. 4(a). Figure 3 A perspective view of the assembled configuration of the corresponding propulsion force generator.

[0034] Fig. 5(a) is a plan view of the configuration of the first embodiment.

[0035] Fig. 5(b) is a cross-sectional view taken along the line A-A in Fig. 5(a).

[0036] Fig. 6(a) is a plan view of the configuration of the first embodiment.

[0037] Fig. 6(b) is a cross-sectional view taken along the line B-B in Fig. 6(a).

[0038] Fig. 7(a) is a plan view of the configuration of the propulsion force generating motor of the propulsion force generator according to the first embodiment.

[0039] Fig. 7(b) is a cross-sectional view taken along the line C-C in Fig. 7(a).

[0040] Fig. 8(a) is a perspective view showing the configuration of the pitch changing motor, the rotary transmission unit, and the rotary-linear motion conversion unit of Fig. 6.

[0041] Fig. 8(b) is a perspective view showing the configuration of Fig. 8(a) with the support members that support the rotary-linear motion conversion unit and the linear motion guide removed.

[0042] Figure 9 Fig. 9 is a plan view of the configuration of the pitch changing motor, the rotary transmission unit, and the rotary-linear motion conversion unit in Fig. 8(a).

[0043] Fig. 10(a) is a cross-sectional view taken along the line D-D in Fig. 9. Figure 9 Fig. 10(b) is a cross-sectional view taken along the line E-E in Fig. 9.

[0044] Figure 9 Fig. 11 is a plan view of the configuration of the pitch changing motor, the rotary transmission unit, and the rotary-linear motion conversion unit in Fig. 10(a).

[0045] Figure 11 Fig. 12(a) is a perspective view showing the position of the linear mover corresponding to the pitch angle of the rotary blade in Fig. 1(b).

[0046] Fig. 12(b) is a perspective view showing the position of the linear mover corresponding to the pitch angle of the rotary blade in Fig. 1(c).

[0047] Fig. 12(b) is a perspective view showing the position of the linear mover corresponding to the pitch angle of the rotary blade in Fig. 1(c).

[0048] Figure 13 ​This is an exploded perspective view showing the wheel hub configuration in Figure 1(b).

[0049] Figure 14(a) is a perspective view of a propulsion generator according to the second embodiment with rotating blades attached.

[0050] Figures 14(b) and 14(c) are side views of the rotating blades attached to the propulsion generator according to the second embodiment, wherein the pitch angle of the rotating blades is changed.

[0051] Figure 15 This is an exploded perspective view of the propulsion generator in Figure 14(a) as seen from one side of the rotation axis.

[0052] Figure 16 This is an exploded perspective view of the propulsion generator in Figure 14(a) as seen from the other side of the rotation axis.

[0053] Figure 17(a) shows the relationship with Figure 15 A 3D view of the configuration of the corresponding propulsion generator after assembly.

[0054] Figure 17(b) shows the relationship with Figure 16 A 3D view of the configuration of the corresponding propulsion generator after assembly.

[0055] Figure 18(a) is a plan view showing the configuration of the propulsion generator according to the second embodiment.

[0056] Figure 18(b) is a cross-sectional view taken along line AA in Figure 18(a).

[0057] Figure 19(a) is a plan view showing the configuration of the propulsion generator according to the second embodiment.

[0058] Figure 19(b) is a cross-sectional view taken along line BB in Figure 19(a).

[0059] Figure 20 This is an exploded perspective view of the hub and extension in Figure 14(b).

[0060] Figure 21 This is an exploded perspective view of the mounting section, housing, and extension section in Figure 14(b).

[0061] Figure 22 It is shown Figure 21 Bottom view of the housing configuration. Detailed Implementation

[0062] Hereinafter, embodiments according to the present application will be described in detail with reference to the accompanying drawings. The following embodiments do not limit the present application, and not all combinations of features in the embodiments are essential to the present application. The structure of the embodiments can be modified or changed as appropriate in accordance with the specifications and various conditions (use conditions, use environments, etc.) of the device to which the present application is applied. The technical scope of the present application is determined by the claims, and is not limited by the following embodiments. Note that the drawings used in the following description can differ in scale and shape from actual structures for the sake of clarity.

[0063] The following describes an embodiment in which three rotating blades are driven by a propulsion force generator as an example, however the number of rotating blades driven by the propulsion force generator is not necessarily limited to three, and can be N (where N is a positive integer).

[0064] Fig. 1(a) is a perspective view of a propulsion force generator according to a first embodiment to which rotating blades are attached. Figs. 1(b) and 1(c) are side views of rotating blades attached to the propulsion force generator according to the first embodiment, in which the pitch angles of the rotating blades are changed. Figure 2 and Figure 3 Fig. 4(a) and 4(B) are perspective views showing the configuration of the assembled propulsion force generator.

[0065] As shown in Figs. 1(a), 1(b), and 1(c), the propulsion force generator 1 electrically drives rotating blades H1 to H3. The rotating blades H1 to H3 are respectively mounted to the propulsion force generator 1 by clamps P1 to P3. The clamps P1 to P3 support the rotating blades H1 to H3 so that they extend radially in a horizontal direction from the propulsion force generator 1. The propulsion force generator 1 is attached to a flying object via a mounting surface 1A. The flying object to which the propulsion force generator 1 is attached is, for example, a fuselage or a body capable of flying, such as an electric helicopter, an airplane, a gyroplane, a car having a flying function.

[0066] As shown in Figs. 1(a), 1(b), 1(c), Figure 2 , Figure 3 , Figs. 4(a), 4(b), the propulsion force generator 1 includes a propulsion force generating motor (first motor) 2, a pitch changing motor (second motor) 5, a rotating transmission unit 6, a rotating-linear motion conversion unit (first conversion unit) 7, a linear motion-rotating conversion unit (second conversion unit) 8, an extension 9, and a hub 10. The propulsion force generating motor 2 includes a stator 2A, a rotor 2B, an outer frame 2C, an inner tube 2D, and an inner frame 2E. The rotor 2B includes a rotor shaft 4 and hollow portions 3A and 3B located radially inside thereof. At the axial end portion of the rotor shaft 4, a mounting portion 4A is provided for mounting the hub 10 by the extension 9.

[0067] The inner frame 2E is located radially outward of the inner tube 2D, and the outer frame 2C is located radially outward of the inner frame 2E. The inner tube 2D is fixed to the outer frame 2C. The inner frame 2E is fixed to the rotor shaft 4 and rotates together with the rotor shaft 4. The rotor shaft 4 is located inside the inner tube 2D. The mounting portion 4A is located radially outward of the inner tube 2D. The rotor 2B is located outward of the outer circumferential surface of the inner frame 2E. The stator 2A is located inward of the inner circumferential surface of the outer frame 2C. The rotor shaft 4, the inner tube 2D, the inner frame 2E, the rotor 2B, the stator 2A, and the outer frame 2C are arranged concentrically with the rotation axis SO and arranged in order from radially inside to radially outside.

[0068] The propulsion force generating motor 2 generates a propulsion force F of the rotating blades H1 to H3. The stator 2A is composed of an electromagnetic steel plate and a coil, and is located outward of the rotor 2B. The stator 2A, the inner tube 2D, and the mounting surface 1A are fixed to the outer frame 2C. The mounting surface 1A can be fixed to the outer frame 2C via the support portion 1C. The inner tube 2D can be fixed to the back side of the mounting surface 1A by the spacer 2F. The spacer 2F can secure a space for housing the rotating transmission unit 6 inside the propulsion force generating motor 2.

[0069] The mounting surface 1A includes an opening 1B through which the rotating transmission unit 6 can be inserted into the outer frame 2C. The support portion 1C extends radially inward from the outer frame 2C. The inner tube 2D is cylindrical and rotatably supports the rotor shaft 4 by a bearing U1 therein. The inner frame 2E is circular ring-shaped and supports the rotor 2B. The outer frame 2C is circular ring-shaped and supports the stator 2A.

[0070] The mounting surface 1A, the outer frame 2C, the inner tube 2D, the inner frame 2E, and the spacer 2F can be made of an alloy, such as hard aluminum. The mounting surface 1A, the outer frame 2C, the inner tube 2D, the inner frame 2E, and the spacer 2F can be integrally formed by, for example, casting, forging, or cutting.

[0071] The rotor 2B includes a magnet and other elements and is located outward of the rotor shaft 4. The rotor 2B and the rotor shaft 4 are fixed to the inner frame 2E. The rotor shaft 4 rotates around the rotation axis SO via the bearing U1. As the rotor shaft 4 rotates, the rotor 2B and the inner frame 2E also rotate around the rotation axis SO. The rotor shaft 4, the mounting portion 4A, and the inner frame 2E can be made of an alloy, such as hard aluminum. The rotor shaft 4, the mounting portion 4A, and the inner frame 2E can be integrally formed by, for example, casting, forging, or cutting.

[0072] The hollow portions 3A and 3B are located inside the propulsion force generating motor 2. The hollow portion 3A is located between the rotor 2B and the rotor shaft 4 along the circumferential direction of the rotor 2B. The hollow portion 3B is located radially inward of the rotor shaft 4 and extends along the axial direction of the rotor shaft 4.

[0073] The pitch changing motor 5 generates a rotational motion for changing the pitch angles θ1 to θ3 of the rotating blades H1 to H3. The pitch changing motor 5 is fixed to the inner tube 2D. At least a part of the pitch changing motor 5 is located inside the propulsion force generating motor 2. The pitch changing motor 5 can be located inside the hollow portion 3A. The rotational axis of the pitch changing motor 5 can be arranged in parallel with the rotational axis SO of the propulsion force generating motor 2.

[0074] The rotation transmission unit 6 transmits the rotational motion generated by the pitch changing motor 5 to a direction perpendicular to the direction of the rotational axis SO of the propulsion force generating motor 2. In other words, the rotational axis of the pitch changing motor 5 and the rotational axis SO of the propulsion force generating motor 2 are parallel to each other, and the rotation transmission unit 6 transmits the rotational motion generated by the pitch changing motor 5 to a shaft arranged along the rotational axis SO of the propulsion force generating motor 2. The rotation transmission unit 6 is fixed to the inner tube 2D. At least a part of the rotation transmission unit 6 is located inside the propulsion force generating motor 2.

[0075] The rotation-linear motion conversion unit 7 converts the rotational motion generated by the pitch changing motor 5 and transmitted by the rotation transmission unit 6 into a linear motion LM in the axial direction of the rotational axis SO. At least a part of the rotation-linear motion conversion unit 7 is located inside the propulsion force generating motor 2. At least a part of the rotation-linear motion conversion unit 7 can protrude from the hollow portion 3B toward the rotating blades H1 to H3 in the axial direction of the rotational axis SO. The rotation-linear motion conversion unit 7 is fixed to the inner tube 2D.

[0076] The linear motion-rotation conversion unit 8 converts the linear motion LM converted by the rotation-linear motion conversion unit 7 into a rotational motion around the axes of the support shafts M1 to M3. The linear motion-rotation conversion unit 8 is located outside the propulsion force generating motor 2.

[0077] The extension 9 is a spacer that maintains the distance between the propulsion force generating motor 2 and the rotating blades H1 to H3 in the axial direction of the rotational axis SO. The extension 9 prevents the rotating blades H1 to H3 from colliding with the propulsion force generating motor 2. The extension 9 is fixed to the rotor shaft 4 by the mounting portion 4A and rotates together with the rotor shaft 4. The extension 9 can be a cylindrical tube through which the linear motion transmission rod 7D passes in the axial direction of the rotor shaft 4.

[0078] The hub 10 contains the linear motion-rotation conversion unit 8 and supports the clamps P1 to P3 in a manner that the clamps P1 to P3 protrude from the hub 10. The hub 10 is fixed to the rotor shaft 4 via the extension 9. In other words, the hub 10 is supported by the outer frame 2C via the rotor shaft 4 in a manner that the hub 10 can rotate around the rotational axis SO. The hub 10 supports the rotating blades H1 to H3 via the clamps P1 to P3 in a direction orthogonal to the axial direction of the rotational axis SO.

[0079] When the propulsion force generating motor 2 operates, the rotor 2B rotates around the rotation axis SO, so that the rotary blades H1 to H3 rotate. The rotation R1 to R3 of the rotary blades H1 to H3 generates the propulsion force F of the rotary blades H1 to H3.

[0080] In the present embodiment, the pitch changing motor 5, the rotary transmission unit 6, and the rotary-linear motion conversion unit 7 are fixed to the outer frame 2C. Therefore, although the rotor 2B rotates, the pitch changing motor 5, the rotary transmission unit 6, and the rotary-linear motion conversion unit 7 do not rotate around the rotation axis SO.

[0081] When the pitch changing motor 5 operates, the rotary blades H1 to H3 rotate around the axes of the support shafts M1 to M3, and the pitch angles θ1 to θ3 of the rotary blades H1 to H3 change. The rotary motion of the pitch changing motor 5 is transmitted to the rotary-linear motion conversion unit 7 through the rotary transmission unit 6. Then, the rotary motion of the pitch changing motor 5 is converted to the linear motion LM in the axial direction along the rotation axis SO by the rotary-linear motion conversion unit 7. Then, the linear motion LM converted by the rotary-linear motion conversion unit 7 is converted to three rotary motions around the axes of the support shafts M1 to M3 by the linear motion-rotation conversion unit 8. Then, the rotary motions of the support shafts M1 to M3 are respectively transmitted to the rotary blades H1 to H3 through the jigs P1 to P3, and the pitch angles θ1 to θ3 of the rotary blades H1 to H3 change.

[0082] The propulsion force generator 1 can change the propulsion force by changing the pitch angles θ1 to θ3 of the rotary blades H1 to H3. By changing the pitch angles θ1 to θ3, the propulsion force generator 1 can improve the stability of the flying object by improving the response speed of the change in the propulsion force, and can ensure the propulsion force required for the flying object without increasing the length of the blades (the length of the rotary blades H1 to H3), thereby reducing the size and weight of the propulsion force generator 1. In addition, since the propulsion force required in various situations can be generated at a lower rotation speed of the propulsion force generating motor 2 compared to a propulsion force generator with fixed pitch angles, it is possible to reduce the noise depending on the rotation speed.

[0083] Furthermore, in the propulsion force generator 1, the pitch angles θ1 to θ3 of the rotary blades H1 to H3 are electrically changeable, so that it is not necessary to use hydraulic pressure. This makes it unnecessary to provide a hydraulic control unit for controlling the supply and discharge of oil and a complex rotary seal mechanism for oil-tightly sealing the rotary member, thereby preventing the increase in the size of the propulsion force generator 1 and improving the maintainability of the propulsion force generator 1.

[0084] Further, the linear motion-rotation conversion unit 8 converts the single linear motion LM converted by the rotation-linear motion conversion unit 7 into three rotational motions around the axis of the support shafts M1 to M3. Therefore, the pitch angles θ1 to θ3 of the three rotating blades H1 to H3 can be adjusted based on the single linear motion LM converted by the rotation-linear motion conversion unit 7, which prevents the size of the propulsion force generator 1 from increasing.

[0085] Further, by including at least a portion of the pitch changing motor 5 in the propulsion force generating motor 2, the amount by which the pitch changing motor 5 protrudes from the propulsion force generating motor 2 in the axial direction of the rotational axis SO can be reduced. Therefore, although the propulsion force generating motor 2 generates the propulsion force of the rotating blades H1 to H3 and the pitch angles θ1 to θ3 of the rotating blades H1 to H3 are changed by the pitch changing motor 5, the propulsion force generator 1 can be made smaller in the axial direction of the rotational axis SO.

[0086] Further, by disposing at least a portion of the pitch changing motor 5 within one of the hollow portions 3A, at least a portion of the pitch changing motor 5 can be disposed within the propulsion force generating motor 2 without increasing the size of the propulsion force generating motor 2 in the axial direction of the rotational axis SO, and the propulsion force generator 1 can be made smaller in the axial direction of the rotational axis SO.

[0087] Further, by transmitting the rotational motion generated by the pitch changing motor 5 through the rotation transmission unit 6, the rotational axis of the propulsion force generating motor 2 and the rotational axis of the pitch changing motor 5 can be arranged in parallel, and the pitch changing motor 5 can be located within the propulsion force generating motor 2.

[0088] Further, by locating the linear motion-rotation conversion unit 8 within the hub 10, the size of the propulsion force generator 1 in the axial direction of the rotational axis SO can be reduced and the linear motion-rotation conversion unit 8 can be prevented from being exposed to the outside.

[0089] Further, since the rotor shaft 4, the inner tube 2D, the inner frame 2E, the rotor 2B, the stator 2A, and the outer frame 2C are arranged concentrically with the rotational axis SO and in order from the radially inner portion to the radially outer portion, the size of the propulsion force generating motor 2 in the axial direction of the rotational axis SO can be prevented from increasing and the hollow portions 3A, one of which can accommodate the pitch changing motor 5, can be provided. Meanwhile, the stator 2A can be arranged around the rotor 2B, which is rotatably supported, and the propulsion force generator 1 can be made smaller in the axial direction of the rotational axis SO.

[0090] When the rotating vanes H1 to H3 are rotated around the axis of the rotating shaft 4, centrifugal forces Fl to F3 are applied to each of the rotating vanes H1 to H3. The centrifugal forces Fl to F3 applied to the rotating vanes H1 to H3 are transmitted to the support shafts M1 to M3 through the clamps Pl to P3, respectively. Based on the centrifugal forces Fl to F3 transmitted to the support shafts M1 to M3, the rotational axes of the support shafts M1 to M3 are automatically adjusted to improve the rotational accuracy of the support shafts M1 to M3 around their axes.

[0091] The configuration and operation of the rotation transmission unit 6, the rotation-linear motion conversion unit 7, and the linear motion-rotation conversion unit 8 will be described in more detail below.

[0092] Figs. 5(a) and 6(a) are plan views of the configuration of the propulsion force generator according to the first embodiment. Fig. 5(b) is a cross-sectional view taken along the line A-A in Fig. 5(a), and Fig. 6(b) is a cross-sectional view taken along the line B-B in Fig. 6(a). Fig. 7(a) is a plan view showing the configuration of the propulsion force generating motor of the propulsion force generator according to the first embodiment, and Fig. 7(b) is a cross-sectional view taken along the line C-C in Fig. 7(a).

[0093] As shown in Figs. 7(a) and 7(b), the rotor 2B is supported by the outer frame 2C via a bearing Ul in a manner that it is rotatable around a rotational axis SO. In the propulsion force generating motor 2, a hollow portion 3A is provided between the rotor 2B and the rotor shaft 4, and a hollow portion 3B is provided in the rotor shaft 4.

[0094] As Figure 2 、 Figure 3 As shown in Figs. 5(a), 5(b), 6(a), and 6(b), the rotation transmission unit 6 includes gears Gl to G3 and support members BJ1 to BJ3. The gears Gl to G3 transmit the rotational motion of the pitch changing motor 5 to the rotation-linear motion conversion unit 7. The gear Gl is mounted to one end of the ball screw rod 7F. The gear G3 is mounted to the rotational shaft of the pitch changing motor 5. The gear G2 is located between the gears Gl and G3 to mesh with the gears Gl and G3.

[0095] The outer frame 2C rotatably supports the gear G1 and the rotary-linear motion conversion unit 7 via a support member BJ1 with the gear G1 and the ball screw rod 7F. In addition, the outer frame 2C rotatably supports the rotary shaft of the pitch changing motor 5 via a support member BJ3 with the gear G3. In addition, the outer frame 2C rotatably supports the gear G2 via support members BJ1 and BJ2. The gear G2 is sandwiched between the support members BJ1 and BJ2 and is positioned at a position where it engages with the gears G1 and G3. The materials of the gears G1 to G3 are, for example, carbon steel, and the materials of the support members BJ1 to BJ3 are, for example, aluminum alloy. As a mechanism of the rotary transmission unit, a belt can be used instead of the gears.

[0096] The ball screw can be used for the rotary-linear motion conversion mechanism of the rotary-linear motion conversion unit 7. A lead screw can also be used for the rotary-linear motion conversion mechanism of the rotary-linear motion conversion unit 7. The rotary-linear motion conversion unit 7 includes a linear motion transmission rod 7D, a linear motion guide 7E, a ball screw rod 7F, and a ball screw nut 7G.

[0097] The linear motion guide 7E guides the ball screw nut 7G and the linear motion transmission rod 7D so that they move linearly along the rotary axis SO. Although the ball screw rod 7F rotates, the linear motion guide 7E restricts the rotation of the ball screw nut 7G. The linear motion guide 7E has a shape that protrudes from the support member BJ1. The linear motion guide 7E can be formed integrally with the support member BJ1.

[0098] The ball screw rod 7F is rotatably supported by the support member BJ1 via a bearing U2. The ball screw rod 7F rotates together with the gear G1 in a manner that it engages with the ball screw nut 7G via a ball head, and linearly moves the ball screw nut 7G.

[0099] The ball screw nut 7G linearly moves with the rotational movement of the ball screw rod 7F, and transmits the linear motion LM to the linear motion transmission rod 7D.

[0100] The linear motion transmission rod 7D transmits the linear motion LM of the ball screw nut 7G to the linear motion-rotation conversion unit 8. The linear motion transmission rod 7D is fixed to the ball screw nut 7G, and an end portion of the linear motion transmission rod 7D is inserted into an inner ring of a bearing U3. The linear motion transmission rod 7D has a shape that encloses a portion of the ball screw nut 7G and a portion of the ball screw rod 7F.

[0101] A rack and pinion can be used for the linear motion-rotation conversion mechanism of the linear motion-rotation conversion unit 8. The linear motion-rotation conversion unit 8 includes a linear mover 11, racks A1 to A3, a housing 21, support shafts M1 to M3, bearings E1 to E3, adapters D1 to D3, and pinions B1 to B3.

[0102] The linear moving member 11 is rotatably supported by the bearing U3 around the axis of the linear motion transmission rod 7D. The linear moving member 11 is linearly movable along the axial direction of the rotation axis SO together with the linear motion transmission rod 7D.

[0103] The racks A1 to A3 are supported by the linear moving member 11. The racks A1 to A3 are linearly moved together with the linear moving member 11, and are engaged with the pinions B1 to B3, and respectively rotate the pinions B1 to B3.

[0104] The support shafts M1 to M3 respectively support the clamps P1 to P3 so that they radially project in the horizontal direction from the propulsion force generator 1. The support shafts M1 to M3 are respectively held by the housing 21 via the bearings E1 to M3 in a manner that the support shafts M1 to M3 are rotatable around their axes. The clamp P1 and the support shaft M1 can be formed integrally, the clamp P2 and the support shaft M2 can be formed integrally, and the clamp P3 and the support shaft M3 can be formed integrally. The material of the clamps P1 to P3 and the support shafts M1 to M3 is, for example, hard aluminum. In order to increase the durability of the clamps P1 to P3 and the support shafts M1 to M3, for example, titanium can be used as the material of the clamps P1 to P3 and the support shafts M1 to M3.

[0105] The pinions B1 to B3 are respectively fixed to the support shafts M1 to M3. The pinions B1 to B3 are rotated with the linear motion LM of the racks A1 to A3, and respectively transmit their rotational motion to the support shafts M1 to M3. The material of the pinions B1 to B3 and the racks A1 to A3 is, for example, chrome-molybdenum steel.

[0106] The housing 21 can be used as a part of the wheel hub 10. The housing 21 is, for example, a non-decomposable housing without a joint surface. Such a non-decomposable housing can be manufactured by machining from an ingot. Thus, the non-decomposable housing can be manufactured without joining parts by an adhesive or welding. The non-decomposable housing can be a jointless seamless housing. The housing 21 encloses the linear moving member 11, the racks A1 to A3, the support shafts M1 to M3, the bearings E1 to E3, the adapters D1 to D3, and the pinions B1 to B3. The housing 21 is capable of supporting the support shafts M1 to M3 at an angular interval of 120 degrees in the circumferential direction of the rotor shaft 4. The housing 21 is fixed to the end surface of the rotor 2B via the extension 9. The housing 21 is also capable of supporting the support shafts M1 to M3 against centrifugal forces exerted on the rotating blades H1 to H3 during rotation around the rotation axis SO. The housing 21 can be formed, for example, by cutting hard aluminum.

[0107] The adapters D1 to D3 are arranged between the support shafts M1 to M3 and the bearings E1 to E3, respectively, and are supported by the support shafts M1 to M3, respectively. The inner peripheral surfaces of the adapters D1 to D3 are formed so as to coincide with the outer peripheral surfaces of the support shafts M1 to M3, respectively, and the outer peripheral surfaces of the adapters D1 to D3 are formed so as to coincide with the inner peripheral surfaces of the bearings E1 to E3, respectively. This enables the adapters D1 to D3 to support the support shafts M1 to M3 having different outer diameters in a manner that the adapters D1 to D3 are fixed within the bearings E1 to E3. The material of the adapters D1 to D3 is, for example, hard aluminum.

[0108] Each of the bearings U3, E1 to E3 can be, for example, a double-row angular contact ball bearing. The double-row angular contact ball bearing can be formed from two single-row angular contact ball bearings arranged back-to-back with a common outer ring, or can be formed from two single-row angular contact ball bearings arranged front-to-back with a common inner ring. The double-row angular contact ball bearing is capable of bearing radial loads and axial loads in both directions. The back-to-back arrangement type can bear moment loads.

[0109] The extension 9 includes a flange 9A. The flange 9A can be formed integrally with the extension 9. The extension 9 can be attached to the end face of the rotor shaft 4 via the flange 9A. The material of the extension 9 and the flange 9A is, for example, hard aluminum.

[0110] The flange 9A has a through-hole 9K that penetrates the flange 9A in the axial direction of the rotor shaft 4. A bolt J6 can be inserted into the through-hole 9K. The mounting portion 4A has an internal thread 4B into which the bolt J6 can be screwed. The internal thread 4B is located on the mounting face side of the flange 9A. The through-hole 9K and the internal thread 4B can be arranged in correspondence with the insertion position of the bolt J6. The bolt J6 is inserted into the through-hole 9K and screwed into the internal thread 4B to fix the flange 9A to the mounting portion 4A, whereby the extension 9 can be fixed to the rotor shaft 4.

[0111] When the pitch changing motor 5 rotates, the gears G1 to G3 rotate. Then, the stud bolt rod 7F rotates together with the rotation of the gear G1, causing the linear motion transmission rod 7D to move linearly together with the stud bolt nut 7G. The motion of the stud bolt nut 7G and the linear motion transmission rod 7D is guided by the linear motion guide 7E, and is restricted to linear motion in the axial direction of the rotation axis SO in the propulsion force generator 1.

[0112] The linear motion LM of the linear motion transmission rod 7D is transmitted to the linear mover 11, thereby causing the racks Al to A3 to linearly move together with the linear mover 11. The linear movement of the racks Al to A3 causes the pinions Bl to B3 engaged with the racks Al to A3 to rotate. As the pinions Bl to B3 rotate, the support shafts Ml to M3 rotate around their respective axes. The rotations of the support shafts Ml to M3 are transmitted to the rotating vanes Hl to H3 through the clamps Pl to P3, respectively, and the pitch angles Θl to Θ3 of the rotating vanes Hl to H3 change.

[0113] By using a ball screw as the rotation-linear motion conversion mechanism of the rotation-linear motion conversion unit 7, the driving torque required for the pitch change can be reduced, and the power consumption of the pitch change motor 5 can be reduced, as compared with the case where a lead screw is used.

[0114] In addition, since the rotation-linear motion conversion unit 7 includes the linear motion transmission rod 7D, the ball screw and the linear mover 11 are disposed apart in the axial direction of the rotation axis SO, so that the ball screw can be located inside the propulsion force generating motor 2, and the linear mover 11 can be enclosed in the hub 10.

[0115] Further, since a rack and pinion is used as the linear-rotation conversion mechanism of the linear-rotation conversion unit 8, the longitudinal direction of each of the racks Al to A3 can be aligned along the linear motion direction of the linear mover 11, and the circle on which the pinions Bl to B3 are disposed can be aligned with the circle on which the support shafts Ml to M3 are disposed. Therefore, the arrangement of the three racks and the three pinions can be small. As in the present embodiment, three racks and three pinions are provided corresponding to the three rotating vanes Hl to H3, but the hub 10 is able to enclose the linear motion-rotation conversion unit 8 while preventing an increase in the size of the hub 10.

[0116] Hereinafter, the configuration and operation of the rotation transmission unit 6 and the rotation-linear motion conversion unit 7 will be described in more detail.

[0117] Fig. 8(a) is a perspective view showing the configuration of the pitch change motor, the rotation transmission unit, and the rotation-linear motion conversion unit in Fig. 6. Fig. 8(b) is a perspective view showing the configuration of Fig. 8(a) without the support member that supports the rotation-linear motion conversion unit and the linear motion guide. Figure 9 Fig. 9(a) is a plan view showing the configuration of the pitch change motor, the rotation transmission unit, and the rotation-linear motion conversion unit in Fig. 8(a). Fig. 9(b) is a cross-sectional view taken along the line C-C in Fig. 9(a). Figure 9 Fig. 10(a) is a cross-sectional view taken along the line D-D in Fig. 9(b). Fig. 10(b) is a cross-sectional view taken along the line E-E in Fig. 9(b). Figure 9 Fig. 10(a) is a cross-sectional view taken along the line D-D in Fig. 9(b). Fig. 10(b) is a cross-sectional view taken along the line E-E in Fig. 9(b).

[0118] As shown in FIGS. 8(a), 8(b), Figure 9 The support member BJ1 can be fixed to the outer frame 2C, which is one of the fixed members of the propulsion force generating motor 2, by the bolts J1. The bolts J1 can be placed at, for example, four corners of the support member BJ1. The support member BJ2 is fixed to the support member BJ1 in a manner that the support member BJ2 is sandwiched between the support member BJ1 and the support member BJ2 by the bolts J2 and the strut 31 with the gear G2. The bolts J2 can be placed at, for example, both ends of the support member BJ2. Both ends of the shaft of the gear G2 are rotatably supported by the support members BJ1 and BJ2 via bearings. The support member BJ3 can be fixed to the outer frame 2C by the bolts J3. For example, the bolts J3 can be placed at two positions at each end of the support member BJ3. In addition, the pitch changing motor 5 can be fixed to the support member BJ3 via the bolts J4.

[0119] The ball screw nut 7G includes a flange 7A. The flange 7A has a cylindrical shape cut along two parallel planes, and the flange 7A is placed in the opening of the linear motion guide 7E. The flange 7A can be integrally formed with the ball screw nut 7G.

[0120] The linear motion transmission rod 7D includes a flange 7B and a guide surface 7C. Each guide surface 7C includes a sliding member 7H. The flange 7B has a cylindrical shape cut along two parallel planes, and the flange 7B is placed in the opening of the linear motion guide 7E.

[0121] The flat surface of the flange 7B and the guide surface 7C can be flush with each other. The flat surface can be two planes located in opposite directions. The protrusions of the flanges 7A and 7B can include areas in which the bolts J5 can be inserted. In the case where the flanges 7A and 7B overlap, the linear motion transmission rod 7D can be fixed to the ball screw nut 7G by fixing the flange 7A to the flange 7B with the bolts J5.

[0122] The flat surface of the flange 7B or the guide surface 7C can be provided with a recess into which the sliding member 7H can be inserted. The sliding member 7H can be inserted into the recess and fixed to the flange 7B by an adhesive or the like. In this case, each sliding member 7H protrudes from the flat surface. The material of the sliding member 7H is, for example, resin.

[0123] On the other hand, the inside of the linear motion guide 7E can be provided with a flat surface that can be opposed to the flat surfaces of the flanges 7A, 7B and the guide surface 7C. The sliding members 7H slide on the inside flat surface of the linear motion guide 7E together with the linear motion LM of the linear motion transmission rod 7D, thereby restricting the motion of the linear motion transmission rod 7D to linear motion in the axial direction of the rotation axis SO.

[0124] In this embodiment, by partially providing flat surfaces on the outer periphery of flanges 7A and 7B and on the guide surface 7C, and by providing flanges 7A and 7B with protrusions into which bolts J5 can be inserted, and by placing flanges 7A and 7B in the opening of the linear motion guide 7E, the outer diameter of the linear motion guide 7E can be reduced, and the rotary-linear motion conversion unit 7 can be placed inside the rotor shaft 4 while preventing the diameter of the rotor shaft 4 from increasing.

[0125] The configuration and operation of the linear motion-rotation conversion unit 8 will be described in more detail below.

[0126] Figure 11 Figure 12(a) is a top view showing the positional relationship between the pinion and the linear moving part attached to the rack. Figure 12(b) is a perspective view showing the position of the linear moving part corresponding to the pitch angle of the rotating blade in Figure 1(c). Figure 13 This is an exploded perspective view showing the configuration of the wheel hubs in Figure 1(b).

[0127] like Figure 11 Figures 12(a), 12(b) and Figure 13 As shown, the linear motion-rotation conversion unit 8 includes a base 13, lifting guides T1 to T3, and nuts S1 to S3 to limit the range of movement of the linear moving member 11 in the linear direction. The base 13 has an opening 14 through which the distal end of the linear motion transmission rod 7D can pass. The linear moving member 11 has an opening 12, openings V1 to V3, and surfaces Z1 to Z3. The hub 10 includes a housing 21, an outer cover 22, and a middle cover 23. The housing 21 has a receiving portion 21A, hollow portions Q1 to Q3, an opening 21B, and openings K1 to K3. The middle cover 23 has a through hole 23A.

[0128] Surfaces Z1 to Z3 are positioned at three rotationally symmetrical locations on the linear motion member 11 about the rotation axis S0. Due to these three rotationally symmetrical locations, the profile of the linear motion member 11 remains the same before and after rotating 120 degrees around the rotation axis S0. Surfaces Z1 to Z3 can respectively support racks A1 to A3. In this embodiment, surfaces Z1 to Z3 support racks A1 to A3 at the positions where the teeth of racks A1 to A3 respectively mesh with the teeth of pinions B1 to B3.

[0129] Bearing U3 is inserted into opening 12, and linear motion transmission rod 7D is inserted into the inner ring of bearing U3. Lifting guides T1 to T3 can be inserted into openings V1 to V3 respectively.

[0130] The linear moving member 11 is supported by the outer ring of the bearing U3, and the distal end of the linear motion transmission rod 7D is fixed to the inner ring of the bearing U3 by the nut 15. The outer ring of the bearing U3 can be mounted to the linear moving member 11 by, for example, a C-shaped retainer ring 16.

[0131] The base 13 supports the lifting guides T1 to T3 in the upright position. The lifting guides T1 to T3 can be integrally formed with the base 13. The shape of the base 13 in plan view can be the same as the shape of the linear moving member 11. The positions of the openings V1 to V3 can correspond to the positions of the lifting guides T1 to T3.

[0132] The opening 21B allows the linear moving member 11 and the base 13 attached to the racks A1 to A3 to be inserted into the housing 21A. Each of the openings K1 to K3 allows one of the support shafts M1 to M3 to be inserted into the housing 21.

[0133] The housing 21A surrounds the linear moving member 11 and the base 13 attached to the racks A1 to A3. The housing 21A is, for example, a hollow or a recess provided in the housing 21. The shape of the housing 21A in plan view can be the same as the shape of the base 13. Therefore, the shape of the housing 21A is triply rotationally symmetric about the rotation axis SO.

[0134] On the other hand, the openings K1 to K3 through which the support shafts M1 to M3 are inserted can be arranged around the outer peripheral surface of the housing 21A. The housing 21 can be provided with a hollow Q1, a hollow Q2, and a hollow Q3, the support shaft M1, the pinion B1, the bearing E1, and the adapter D1 can be inserted into the hollow Q1, the support shaft M2, the pinion B2, the bearing E2, and the adapter D2 can be inserted into the hollow Q2, and the support shaft M3, the pinion B3, the bearing E3, and the adapter D3 can be inserted into the hollow Q3. The support shafts M1 to M3, the pinions B1 to B3, the bearings E1 to E3, and the adapters D1 to D3 are capable of being inserted into the hollows Q1 to Q3, respectively, from the opening 21B.

[0135] The distal ends of the lifting guides T1 to T3 protrude to the outside of the middle cover 23 through the through-holes 23A. The nuts S1 to S3 are mounted to the distal ends of the lifting guides T1 to T3 protruding outward from the middle cover 23, so that the base 13 can be fixed inside the housing 21A.

[0136] The middle cover 23 is supported by the housing 21. The middle cover 23 can be fixed to the housing 21 by the bolt J7. The outer cover 22 covers the middle cover 23. The outer cover 22 can be fixed to the middle cover 23. The material of the middle cover 23 is, for example, hard aluminum, and the material of the outer cover 22 is, for example, resin.

[0137] The linear mover 11 attached to the racks Al to A3 is located in the accommodation portion 21A. The support shafts Ml to M3 attached to the pinions Bl to B3 are located in the hollow portions Ql to Q3. As shown in FIG. 12(a), the support shafts Ml to M3 are arranged such that their rotational axes JS1 to JS3 point in the vertical directions JD1 to JD3 with respect to the surfaces Zl to Z3 of the linear mover 11. The racks Al to A3 are supported on the surfaces Zl to Z3 at positions where they engage with the pinions Bl to B3, respectively. Figure 11

[0138] When the linear motion transmission rod 7D is linearly moved, each of the racks Al to A3 is linearly moved together with the linear mover 11. The movement of the linear mover 11 is guided by the lift guides Tl to T3, and the range of the linear movement of the linear mover 11 is limited by the base 13 and the nuts S1 to S3. The linear movement of the racks Al to A3 rotates the pinions Bl to B3, and the rotation of the pinions Bl to B3 rotates the support shafts Ml to M3 about the respective axes. The rotation of the support shafts Ml to M3 changes the pitch angles θl to θ3 of the rotating vanes Hl to H3. For example, when the linear mover 11 is located at the position of FIG. 12(a), the pitch angles θl to θ3 of the rotating vanes Hl to H3 are set as shown in FIG. 1(b), and when the linear mover 11 is located at the position of FIG. 12(b), the pitch angles θl to θ3 of the rotating vanes Hl to H3 are set as shown in FIG. 1(c).

[0139] By forming the surfaces Zl to Z3 at positions of threefold rotational symmetry around the rotational axis SO and arranging the racks Al to A3 on the surfaces Zl to Z3, the linear movement of a single linear mover 11 can generate three rotational movements around the axes of the three support shafts Ml to M3. Therefore, the pitch angles of the three rotating vanes Hl to H3 can be changed, while the linear movement-rotation conversion unit 8 can be located within the hub 10.

[0140] Hereinafter, a propulsion force generator according to a second embodiment will be described. In the above-described first embodiment, the extension 9 having the flange 9A serves as a spacer that maintains the distance between the propulsion force generating motor 2 and the rotating vanes Hl to H3. In the second embodiment, another extension 9' that does not have the flange 9A serves as a spacer that maintains the distance between the propulsion force generating motor 2 and the rotating vanes Hl to H3.

[0141] In the following description, the same reference numerals are used to identify the same components as in the first embodiment, and detailed description thereof is omitted.

[0142] ​FIG. 14(a) is a perspective view of the propulsive force generator according to the second embodiment attached to the rotating blades. FIG. 14(b) and FIG. 14(c) are side views of the rotating blades attached to the propulsive force generator according to the second embodiment, in which the pitch angles of the rotating blades are changed. Figure 15 and Figure 16 are exploded perspective views of the propulsive force generator in FIG. 14(a). FIG. 17(a) and FIG. 17(b) are perspective views showing the assembled configuration of the propulsive force generator corresponding to Figure 15 and Figure 16 are exploded perspective views of the propulsive force generator in FIG. 14(a). FIG. 17(a) and FIG. 17(b) are perspective views showing the assembled configuration of the propulsive force generator corresponding to

[0143] As shown in FIG. 14(a), FIG. 14(b), FIG. 14(c), Figure 15 , Figure 16 , FIG. 17(a), FIG. 17(b), FIG. 18(a), FIG. 18(b), FIG. 19(a), and FIG. 19(b), the propulsive force generator 1’ includes an extension 9’ instead of the extension 9 of the propulsive force generator 1 in FIG. 1(b). Except for the extension 9’, the configuration of the propulsive force generator 1’ is the same as that of the propulsive force generator 1 in FIG. 1(b).

[0144] The extension 9’ is a spacer that maintains the distance of the propulsive force generating motor 2 from the rotating blades H1 to H3 in the axial direction of the rotation axis SO. The extension 9’ prevents the rotating blades H1 to H3 from colliding with the propulsive force generating motor 2. The extension 9’ is fixed to the rotor shaft 4 via the mounting portion 4A and rotates together with the rotor shaft 4. The hub 10 is fixed to the rotor shaft 4 via the extension 9’. The extension 9’ can be a cylindrical tube through which the linear motion transmission rod 7D passes in the axial direction of the rotor shaft 4. The extension 9’ can be configured in the same manner as the extension 9 in FIG. 1(b), except that there is no flange 9A. Figure 2

[0145] The method of mounting the hub 10 to the end surface of the rotor shaft 4 via the extension 9’ will be described in detail below.

[0146] Figure 20 is an exploded perspective view of the hub and the extension in FIG. 14(b). Figure 21 is an exploded perspective view of the mounting portion, the housing, and the extension in FIG. 14(b). Figure 22 is a bottom view showing the configuration of the housing of Figure 21

[0147] As Figure 20 to Figure 22 ​​As shown, the housing 21 has a top wall 21D. The top wall 21D is located on the side where the extension 9' is installed. The top wall 21D includes a circular opening 21C and through-holes WA1 to WA3. The through-holes WA1 to WA3 can be located at three positions around the opening 21C. The through-holes WA1 to WA3 can be used to insert the bolts W1 to W3. The extension 9' has a step 9B and through-holes WB1 to WB3. The step 9B is provided near the inner surface of the extension 9' and protrudes in the axial direction of the rotor shaft 4. The step 9B can be inserted into the opening 21C. The through-holes WB1 to WB3 extend through the extension 9' in the axial direction of the rotor shaft 4. The bolts W1 to W3 can be inserted into the through-holes WB1 to WB3. The mounting portion 4A has internal threads WC1 to WC3. The internal threads WC1 to WC3 are located on the side of the mounting surface of the extension 9'. The through-holes WA1 to WA3, WB1 to WB3, and the internal threads WC1 to WC3 can be arranged to correspond to the insertion positions of the bolts W1 to W3. The middle cover 23 has a through-hole 23D into which the screw J7 can be inserted. The outer cover 22 can cover the middle cover 23 to plug the through-hole 23D.

[0148] In this structure, the step 9B is inserted into the opening 21C until the top wall 21D of the housing 21 abuts against the lower end of the extension 9'. Then, the bolts W1 to W3 are inserted into the housing 21 and through the through-holes WA1 to WA3, respectively, so that the bolts W1 to W3 protrude from the extension 9'. Then, the bolts W1 to W3 are screwed onto the internal threads WC1 to WC3 so that the housing 21 and the extension 9' can be fixed to the mounting portion 4A. Thus, it is possible to fix the housing 21 and the extension 9' to the mounting portion 4A while the bolts W1 to W3 are accommodated in the housing 21 and the extension 9'. This makes it possible to prevent the bolts W1 to W3 from being exposed to the outside of the propulsion force generator 1' and to prevent the bolts W1 to W3 from falling off from the propulsion force generator 1', while reducing the weight of the propulsion force generator 1' of FIG. 14(a) compared to the propulsion force generator 1 of FIG. 1(a).

[0149] As Figure 20As shown, the positioning pins 9E can be inserted into holes on the opposite surfaces of the housing 21 and the extension 9', and the marker pins 9F can be inserted into holes on the opposite surfaces of the mounting portion 4A and the extension 9'. Depending on the number of the bolts W1 to W3, there can be three positioning pins 9E and three marker pins 9F. In the present embodiment, the positioning pins 9E and the bolts W1 to W3 can be alternately arranged in the circumferential direction on the lower end surface of the extension 9'. In addition, the marker pins 9F and the bolts W1 to W3 can be alternately arranged in the circumferential direction of the mounting portion 4A. The positioning pins 9E and the marker pins 9F ensure the gaps between the housing 21 and the extension 9' and between the mounting portion 4A and the extension 9' for screwing the housing 21 and the extension 9' to the mounting portion 4A, so that the positioning accuracy of the housing 21 and the extension 9' can be improved. The positioning pins 9E and the marker pins 9F contribute to the release of the circumferential torque applied to the bolts W1 to W3.

[0150] Then, the middle cover 23 is attached to the housing 21 to plug the opening 21B in a manner that the linear moving member 11, the racks A1 to A3, and the pinions B1 to B3 are arranged in the accommodation portion 21A. Then, the middle cover 23 is fixed to the housing 21 by screwing the screw J7 into the housing 21 with the screw J7 inserted into the through-hole 23D. Then, the outer cover 22 is attached to the middle cover 23, thereby plugging the through-hole 23D into which the screw J7 is inserted. This makes it possible to prevent the screw J7 from being exposed to the outside of the propulsion force generator 1' and to prevent the screw J7 from falling off.

[0151] The housing 21 and the mounting portion 4A are common to the propulsion force generator 1 in FIG. 1(b) and the propulsion force generator 1 in FIG. 14(b). Therefore, when Figure 15 the extension 9' in the propulsion force generator 1 in FIG. 14(a) does not have sufficient strength, the extension 9 in the propulsion force generator 1 in FIG. 1(a) can be substituted therefor without modifying the housing 21 and the mounting portion 4A. Figure 2 the extension 9' in the propulsion force generator 1 in FIG. 14(a) does not have sufficient strength, the extension 9 in the propulsion force generator 1 in FIG. 1(a) can be substituted therefor without modifying the housing 21 and the mounting portion 4A.

[0152] In the above-described embodiment, the rotating blades H1-H3 are arranged directly below the propulsion force generator 1, and the propulsion force generator 1 is mounted to the lower portion of the flying object airframe, however the rotating blades H1-H3 can be arranged directly above the propulsion force generator 1, and the propulsion force generator 1 can be mounted to the upper portion of the flying object airframe.

[0153] In the above-described embodiments, the extensions 9 in Fig. 1(b) and the extensions 9' in Fig. 14(b) are provided to maintain the distance between the propulsion force generating motor 2 and the rotating blades H1 to H3. However, if the distance between the propulsion force generating motor 2 and the rotating blades H1 to H3 can be sufficiently maintained even without the extensions 9 or 9', the extensions 9 or 9' can be omitted. If there is no extension 9 in Fig. 1(b), the flange 9A can be provided on the housing 21. If there is no extension 9' in Fig. 14(b), the bolts W1 to W3 can be shortened in length of the extensions 9', and the housing 21 can be directly fixed to the mounting portion 4A using the bolts W1 to W3.

[0154] Reference Signs

[0155] 1: Propulsion force generator

[0156] H1-H3: Rotating blades

[0157] P1-P3: Jigs

[0158] 2: Propulsion force generating motor

[0159] 2A: Stator

[0160] 2B: Rotor

[0161] 2C: Frame

[0162] 3A, 3B: Hollow portions

[0163] 4: Rotor shaft

[0164] 5: Pitch changing motor

[0165] 6: Rotating transmission unit

[0166] 7: Rotary-linear motion conversion unit

[0167] 8: Linear motion-rotary conversion unit

[0168] 9: Extension

Claims

1. A propulsion generator, comprising: The first electric motor is configured to generate thrust for the rotating blades; A second electric motor is configured to generate rotational motion for changing the pitch angle of the rotating blades; A first conversion unit is configured to convert the rotational motion generated by the second motor into linear motion; as well as The second conversion unit is configured to convert the linear motion converted by the first conversion unit into rotational motion. At least a portion of the first conversion unit is located within the first motor. The propulsion generator is characterized in that... The propulsion generator further includes a rotary transmission unit, which is located between the second motor and the first conversion unit and transmits the rotational motion generated by the second motor to the first conversion unit. The second conversion unit includes: A linear motion component includes N outer surfaces corresponding to N rotating blades, where N is a positive integer. The linear motion component moves linearly according to the linear motion converted by the first conversion unit. as well as Corresponding to the N racks and N pinions of the N rotating blades, The N racks and N pinions are each supported by the N outer surfaces. Of the N racks and N pinions, N pinions are respectively supported on the sides of the support shafts of the N rotating blades. The first electric motor has a stator and a rotor disposed inside the stator, the rotor having a hollow portion. The second motor is disposed in the hollow portion of the rotor of the first motor. The rotation axis of the second motor is parallel to the rotation axis of the rotor of the first motor, and is spaced apart from the rotor of the first motor. The second motor as a whole and the rotary transmission unit as a whole are located inside the stator of the first motor without protruding from the stator of the first motor in the axial direction.

2. The propulsion generator according to claim 1, wherein the first motor includes a rotating shaft having a hollow portion extending axially along the rotating shaft, and at least a portion of the first conversion unit is located within the hollow portion.

3. The propulsion generator according to claim 1 or 2, wherein the rotary transmission unit is configured to transmit the rotary motion generated by the second motor in a direction perpendicular to the direction of the rotation axis of the second motor.

4. The propulsion generator according to claim 1 or 2 further includes a hub configured to support the rotating blade, wherein at least a portion of the second conversion unit is located within the hub.

5. The propulsion generator according to claim 1 or 2, wherein the first conversion unit comprises a ball head screw.

6. The propulsion generator of claim 5, wherein the first motor comprises a stator and a rotor, the ball head screw comprises a ball head screw rod and a ball head screw nut, the ball head screw rod being rotatably supported by a fixing member of the first motor, and the ball head screw nut being screwed onto the ball head screw rod via a ball head and guided to move linearly along the rotation axis of the rotor of the first motor.

7. The propulsion generator of claim 5 further includes a linear motion transmission rod configured to transmit the linear motion converted by the first conversion unit to the second conversion unit, the linear motion transmission rod being fixed to the ball head screw nut of the ball head screw, the linear motion transmission rod including a surface configured to restrict the movement of the linear motion transmission rod to linear motion in the direction of the linear motion.

Images