Propeller, propeller device, and flight device

Abstract

To provide a propeller, a propeller device, and a flight device capable of changing a pitch angle of the propeller while simplifying a configuration.SOLUTION: The propeller device 12 includes a motor 20 and a propeller 30 that is rotated by driving of the motor 20. The propeller 30 includes a boss 31 that rotates about the output axis La, and a blade 32 that rotates about the output axis La together with the boss 31. The blade portion 32 is connected to the boss portion 31 so as to be rotatable about a hinge axis Lb inclined with respect to the output axis La. The blade portion 32 is configured such that the pitch angle of the blade portion 32 changes by rotating about the hinge axis Lb.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to propellers, propeller devices, and flight devices. [Background technology]

[0002] Conventionally, some flying devices include a main body and multiple propeller devices supported by the main body (see, for example, Patent Document 1). Each propeller device includes a motor and a propeller that rotates when driven by the motor. The flying device flies using the thrust generated by the rotation of the propeller in each propeller device. Furthermore, by varying the magnitude of the thrust generated by each propeller device, the flying device can move forward, backward, turn, and perform other movements.

[0003] The flight device described in Patent Document 1 is equipped with a variable pitch mechanism for changing the pitch angle of the propeller. The variable pitch mechanism includes a servo motor and a link mechanism that moves the propeller so that the pitch angle of the propeller is changed by driving the servo motor. The variable pitch mechanism changes the pitch angle of the propeller according to the situation at hand, thereby improving the flight performance of the flight device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6592679 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-described flight device, the pitch angle variable mechanism requires a power source such as a servo motor and links, which not only makes the structure complex but also increases the weight.

[0006] An object of the present disclosure is to provide a propeller, a propeller device, and a flight device that are capable of changing the pitch angle of the propeller while simplifying the configuration. [Means for solving the problem]

[0007] A propeller that solves the above problem is a propeller (30, 30A, 30B, 30C) that includes a boss portion (31, 51) that rotates around an output axis (La) and blade portions (32, 41, 61) that rotate together with the boss portion around the output axis, wherein the blade portions are connected to the boss portion so as to be rotatable around hinge axes (Lb) that are inclined with respect to the output axis, and the blade portions are configured so that the pitch angle (θ) of the blade portions changes when they rotate around the hinge axes.

[0008] A propeller device that solves the above problem is a propeller device (12) that includes a motor (20) and a propeller (30, 30A, 30B, 30C) that rotates when driven by the motor, wherein the propeller includes a boss portion (31, 51) that rotates around an output axis (La) and a blade portion (32, 41, 61) that rotates together with the boss portion around the output axis, and the blade portion is connected to the boss portion so as to be rotatable around a hinge axis (Lb) that is inclined with respect to the output axis, and the blade portion is configured so that the pitch angle (θ) of the blade portion changes when it rotates around the hinge axis.

[0009] A flying device that solves the above problem is a flying device (10) equipped with a propeller device (12) including a motor (20) and a propeller (30, 30A, 30B, 30C) that rotates when driven by the motor, wherein the propeller has a boss portion (31, 51) that rotates around an output axis (La) and a blade portion (32, 41, 61) that rotates together with the boss portion around the output axis, and the blade portion is connected to the boss portion so that it can rotate around a hinge axis (Lb) that is inclined with respect to the output axis, and the blade portion is configured so that the pitch angle (θ) of the blade portion changes when it rotates around the hinge axis.

[0010] In the above-described propeller, propeller device, and flight device, the hinge axis is inclined relative to the output axis, so that the pitch angle of the blades can be changed as they rotate about the hinge axis. Furthermore, because the blades can be rotated about the hinge axis by changing the rotational speed of the propeller, the propeller pitch angle can be changed while simplifying the configuration. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic plan view of a flying device according to an embodiment. [Figure 2] FIG. 2 is a schematic side view partially showing a propeller device of the flight device of the embodiment. [Figure 3] FIG. 3 is a schematic plan view partially showing a propeller device of the flight device of the embodiment. [Figure 4] FIG. 4 is a schematic side view illustrating the blade portion in the reference position of the flight device of the embodiment. [Figure 5] FIG. 5 is a schematic side view illustrating the blade portion of the flight device of the embodiment when it is in the retracted position. [Figure 6] FIG. 6 is a schematic side view illustrating the blade portion in the forward position of the flying device of this embodiment. [Figure 7]FIG. 7 is a schematic plan view for explaining a propeller in a modified example. [Figure 8] FIG. 8 is a schematic side view for explaining a propeller in a modified example. [Figure 9] FIG. 9 is a schematic plan view for explaining a propeller in the same modified example. [Figure 10] FIG. 10 is a schematic side view for explaining a propeller in a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0012] An embodiment of a propeller, a propeller device, and a flying device will be described below. 1 is a flight device that flies in the atmosphere. The flight device 10 is, for example, an electric vertical take-off and landing aircraft such as a multicopter. The flight device 10 may be an unmanned aircraft or a manned aircraft.

[0013] (Configuration of flight device 10) The flight device 10 comprises a main body 11 and a plurality of propeller devices 12 supported by the main body 11. The propeller devices 12 are propulsion devices that generate thrust F to fly the flight device 10. The flight device 10 of this embodiment comprises, for example, four propeller devices 12.

[0014] The main body 11 of the flight device 10 has, for example, a base 13 and a plurality of arms 14 extending radially from the base 13. In a plan view, the base 13 is provided at the center of the flight device 10. The base 13 is, for example, a housing that houses a battery (not shown) and a control unit (not shown) that controls the operation of each propeller unit 12. The main body 11 has, for example, four arms 14. The propeller units 12 are provided, for example, on the upper surface at the tip of each arm 14.

[0015] (Configuration of the propeller device 12) As shown in FIG. 2, each propeller device 12 includes a motor 20 and a propeller 30 that rotates when driven by the motor 20. The motor 20 is fixed, for example, to the upper surface at the tip of each arm 14. The motor 20 includes a motor body 21 and a rotating shaft 22 extending from the motor body 21. The motor 20 drives the rotating shaft 22 to rotate about the output axis La by power supplied from the battery. The driving of the motor 20 is controlled by the control unit. The propeller 30 is provided so as to be rotatable integrally with the rotating shaft 22 of the motor 20. The propeller 30 rotates when driven by the motor 20, thereby generating a thrust F toward the upstream side (upward) of the propeller 30. Note that the "upstream side" and "downstream side" of the propeller 30 refer to the upstream side and downstream side in the direction of the fluid flow generated by the rotation of the propeller 30 (the opposite direction to the direction of thrust F).

[0016] As shown in FIG. 1, the multiple propeller devices 12 include multiple first propeller devices 12A and multiple second propeller devices 12B. In the flight device 10 of this embodiment, the first propeller devices 12A are two propeller devices 12 located diagonally. In addition, in the flight device 10 of this embodiment, the second propeller devices 12B are two propeller devices 12 located diagonally. The first propeller devices 12A and the second propeller devices 12B are configured so that their respective propellers 30 rotate in opposite directions to each other, thereby generating an upstream thrust F. In other words, when the flight device 10 is flying, the propellers 30 of the first propeller device 12A and the second propeller device 12B rotate in opposite directions.

[0017] (Propeller 30 configuration) As shown in FIGS. 2, 3, and 4, the propeller 30 includes a boss portion 31 and blade portions 32. The propeller 30 includes, for example, two blade portions 32. The boss portion 31 rotates together with the blade portions 32 about the output axis La as the rotating shaft 22 of the motor 20 rotates. The boss portion 31 includes a base portion 33 to which the rotating shaft 22 of the motor 20 is connected, and blade connecting portions 34 to which the blade portions 32 are connected. The base portion 33 is fixed to the rotating shaft 22 of the motor 20 so as to be rotatable together with the base portion 33. The boss portion 31 includes the same number of blade connecting portions 34 as the propeller 30 (two in this embodiment). Each blade connecting portion 34 extends obliquely upward from the outer circumferential surface of the base portion 33, for example. Furthermore, each blade connecting portion 34 is formed integrally with the base portion 33, for example.

[0018] Each blade connecting portion 34 includes a support portion 35 that supports the blade portion 32 rotatably about the hinge axis Lb, and a pair of rotation restricting portions 36 that restrict the rotation range of the blade portion 32 about the hinge axis Lb. Each of the support portion 35 and the pair of rotation restricting portions 36 is, for example, cylindrical. The support portion 35 extends along the hinge axis Lb. The hinge axis Lb is inclined with respect to the output axis La. More specifically, in this embodiment, the hinge axis Lb is inclined so as to approach the output axis La as it moves toward the upstream side of the propeller 30. The hinge axis Lb is also set to intersect with the output axis La (see FIG. 2). That is, the propeller 30 includes an intersection X1 where the output axis La and the hinge axis Lb intersect with each other. In the propeller 30 of this embodiment, the intersection X1 of the output axis La and the hinge axis Lb is set on the upstream side of the boss portion 31 on the propeller 30 .

[0019] (Configuration of blade portion 32) Each blade portion 32 is connected to a blade connecting portion 34 of the boss portion 31 so as to be rotatable about a hinge axis Lb inclined with respect to the output axis La. Each blade portion 32 has a base end connecting portion 32a connected to a pivotal support portion 35 of the blade connecting portion 34 of the boss portion 31. The base end connecting portion 32a is supported by the pivotal support portion 35 of the blade connecting portion 34 so as to be rotatable about the hinge axis Lb. Furthermore, the base end connecting portion 32a can abut against each rotation restricting portion 36 of the blade connecting portion 34 in the rotation direction about the hinge axis Lb. In other words, the rotation range of the blade portion 32 about the hinge axis Lb is restricted to a predetermined angle range by each rotation restricting portion 36.

[0020] Each blade portion 32 rotates integrally with the rotating shaft 22 of the motor 20 and the boss portion 31 around the output axis La. By rotating around the output axis La, each blade portion 32 generates a thrust F that causes the flight device 10 to fly.

[0021] In the propeller 30 of each propeller device 12, each blade portion 32 is configured to rotate about the hinge axis Lb, thereby changing the pitch angle θ of the blade portion 32. In the following description, as shown in FIGS. 3 and 4, the center position of the rotation range of the blade portion 32 about the hinge axis Lb is defined as a reference position P1. As shown in FIGS. 3 and 5, a position where the blade portion 32 is retracted rearward in the rotation direction Dr of the propeller 30 from the reference position P1 is defined as a retracted position P2. As shown in FIGS. 3 and 6, a position where the blade portion 32 is advanced forward in the rotation direction Dr of the propeller 30 from the reference position P1 is defined as an advanced position P3. Note that FIGS. 4, 5, and 6 each show a schematic side view of the propeller 30 as viewed from a direction perpendicular to the output axis La. As shown in FIG. 5, when the blade portion 32 is in the retracted position P2, the pitch angle θ increases compared to when it is in the reference position P1. On the other hand, when the blade portion 32 is in the leading position P3, the pitch angle θ decreases compared to when the blade portion 32 is in the reference position P1.

[0022] (Action of this embodiment) The operation of this embodiment will be described below. When the flight device 10 is raised, i.e., when the thrust F of the propeller 30 is increased, the output of the motor 20 is increased to increase the rotational speed of the boss portion 31. At this time, the blade portion 32 rotates toward the retracted position P2 due to inertia, air resistance, etc., thereby increasing the pitch angle θ of the blade portion 32. When the pitch angle θ of the blade portion 32 increases, the thrust F is more likely to be generated. Therefore, the responsiveness of the flight device 10 when it is raised is improved.

[0023] On the other hand, when descending the flight device 10 during flight, i.e., when reducing the thrust F of the propeller 30, the output of the motor 20 is reduced to slow down the rotational speed of the boss portion 31. At this time, the blade portion 32 rotates toward the leading position P3 due to inertia, thereby reducing the pitch angle θ of the blade portion 32. When the pitch angle θ of the blade portion 32 decreases, it becomes difficult to generate thrust F. This improves the operational responsiveness when descending the flight device 10.

[0024] (Effects of this embodiment) (1) The propeller 30 includes a boss portion 31 that rotates about the output axis La, and blade portions 32 that rotate together with the boss portion 31 about the output axis La. The blade portions 32 are connected to the boss portion 31 so as to be rotatable about hinge axes Lb that are inclined with respect to the output axis La. The blade portions 32 are configured so that the pitch angle θ of the blade portions 32 changes when they rotate about the hinge axes Lb. With this configuration, because the hinge axes Lb are inclined with respect to the output axis La, the pitch angle θ of the blade portions 32 can be changed as the blade portions 32 rotate about the hinge axes Lb. Furthermore, because the blade portions 32 can be rotated about the hinge axes Lb by changing the rotational speed of the propeller 30, the pitch angle θ can be changed while simplifying the configuration of the propeller 30.

[0025] (2) When the rotation of the boss portion 31 accelerates, the blade portion 32 rotates due to inertia around the hinge axis Lb toward the rear side in the rotation direction Dr of the boss portion 31. When the rotation of the boss portion 31 decelerates, the blade portion 32 rotates due to inertia around the hinge axis Lb toward the front side in the rotation direction Dr of the boss portion 31. Therefore, by changing the rotation speed of the boss portion 31, it is possible to rotate the blade portion 32 around the hinge axis Lb and change the pitch angle θ.

[0026] (3) The blades 32 are configured so that the pitch angle θ increases when the boss 31 rotates backward in the rotation direction Dr, and decreases when the boss 31 rotates forward in the rotation direction Dr. With this configuration, when the boss 31 accelerates in rotation, i.e., when the thrust F is increased, the blades 32 can be retracted to increase the pitch angle θ. This improves the responsiveness of the flight device 10 when it ascends. On the other hand, when the boss 31 decelerates in rotation, i.e., when the thrust F is reduced, the blades 32 can be advanced to decrease the pitch angle θ. This improves the responsiveness of the flight device 10 when it descends.

[0027] (4) The hinge axis Lb is inclined so as to approach the output axis La as it moves toward the upstream side of the propeller 30. This allows the pitch angle θ to increase when the blade portion 32 rotates rearward in the rotation direction Dr, and the pitch angle θ to decrease when the blade portion 32 rotates forward in the rotation direction Dr.

[0028] (5) The propeller 30 has an intersection X1 where the output axis La and the hinge axis Lb intersect with each other. With this configuration, the pitch angle θ can be suitably changed by rotating the blade portion 32 about the hinge axis Lb.

[0029] (6) The intersection X1 of the output axis La and the hinge axis Lb is set upstream of the boss portion 31 in the propeller 30. This configuration enables the pitch angle θ to increase when the blade portion 32 rotates rearward in the rotation direction Dr, and the pitch angle θ to decrease when the blade portion 32 rotates forward in the rotation direction Dr.

[0030] (7) The boss portion 31 includes a rotation restricting portion 36 that restricts the rotation range of the blade portion 32 about the hinge axis Lb. With this configuration, the rotation restricting portion 36 can prevent the blade portion 32 from moving backward or forward excessively.

[0031] (Other embodiments) The above embodiment can be modified as follows: The above embodiment and the following modifications can be combined with each other within the scope of technical compatibility.

[0032] The propeller 30 in the above embodiment may be changed to, for example, propellers 30A to 30C as shown in Figures 7, 8, 9, and 10. In the following description of each of Figures 7 to 10, the same components as those in the above embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0033] The propeller 30A shown in FIG. 7 includes, for example, a boss portion 31 including a base portion 33 and a pair of blade connecting portions 34, and a pair of blade portions 41 that rotate together with the boss portion 31 around the output axis La. Each blade portion 41 includes a first connecting member 42 and a blade main body 43 connected to the first connecting member 42. The first connecting member 42 is connected to the blade connecting portions 34 of the boss portion 31 so as to be rotatable around the hinge axis Lb. The blade main body 43 generates thrust F by rotating around the output axis La based on the driving of the motor 20. The blade main body 43 is connected to the first connecting member 42 so as to be rotatable around a first axis L1 that is parallel to the output axis La.

[0034] 7, the blade section 41, which includes the first connecting member 42 and the blade main body 43, rotates about the hinge axis Lb, thereby changing the pitch angle θ of the blade main body 43. Furthermore, by rotating the blade main body 43 about the first axis L1, it becomes possible to put the blade main body 43 into the stored state shown by the two-dot chain line in FIG. 7. Note that it is desirable to configure the blade main body 43 so that it does not rotate about the first axis L1 relative to the first connecting member 42 while the propeller 30A is rotating about the output axis La.

[0035] The propeller 30B shown in FIGS. 8 and 9 includes a boss portion 51 that rotates about the output axis La and a pair of blade portions 32 that rotate together with the boss portion 31 about the output axis La. The boss portion 51 includes a base portion 33 and a second connecting member 52 that is connected to the base portion 33 so as to be rotatable about a second axis L2. The second axis L2 is an axis that extends along the tangential direction of a reference circle C1 (see FIG. 9) that is centered on the output axis La. The boss portion 51 includes, for example, a pair of second connecting members 52. The base end connecting portion 32a of each blade portion 32 is connected to the corresponding second connecting member 52 so as to be rotatable about a hinge axis Lb. The blade portions 32 are configured to be able to move to a retracted position by rotating together with the second connecting member 52 about the second axis L2 toward the upstream side of the propeller 30. The retracted position of the blade portion 32 is a position where the tip of the blade portion 32 faces the upstream side of the propeller 30, as shown by the two-dot chain line in FIG.

[0036] According to the configurations shown in FIGS. 8 and 9 , similarly to the above-described embodiment, the pitch angle θ of the blade portion 32 can be changed by rotating the blade portion 32 about the hinge axis Lb. Rotating both the blade portion 32 and the second connecting member 52 about the second axis L2 toward the upstream side of the propeller 30 makes it possible to achieve a stored state, for example, as shown by the two-dot chain line in FIG. 8 . As shown in FIG. 9 , for example, by rotating the second connecting member 52 about the second axis L2 toward the downstream side of the propeller 30 so that the hinge axis Lb is parallel to the output axis La, the blade portion 32 can be rotated about the hinge axis Lb, thereby achieving the stored state, as shown by the two-dot chain line in FIG. 9 . It is desirable that the rotation of the blade portion 32 about the hinge axis Lb be restricted within a predetermined rotation range during rotation of the propeller 30B about the output axis La.

[0037] The propeller 30C shown in FIG. 10 includes, for example, a boss portion 51 similar to the examples shown in FIGS. 8 and 9 above, and a pair of blade portions 61 that rotate together with the boss portion 51 around the output axis La. Each blade portion 61 includes a third connecting member 62, a fourth connecting member 63, and a blade main body 43 similar to the example shown in FIG. 7 above. The third connecting member 62 is connected to the second connecting member 52 of the boss portion 51 so as to be rotatable around the hinge axis Lb. The fourth connecting member 63 is connected to the third connecting member 62 so as to be rotatable around a third axis L3 that is parallel to the second axis L2. The blade main body 43 is connected to the fourth connecting member 63 so as to be rotatable around a first axis L1 that is parallel to the output axis La.

[0038] 10 , by adjusting the angle of the second connecting member 52 relative to the base 33 and the angle of the fourth connecting member 63 relative to the third connecting member 62, it is possible to change the angle of the hinge axis Lb relative to the output axis La while maintaining the attitude of the blade main body 43 (i.e., while maintaining the first axis L1 parallel to the output axis La). Changing the angle of the hinge axis Lb relative to the output axis La also makes it possible to adjust the degree of change in the pitch angle θ of the blade main body 43 when the blade section 61 rotates around the hinge axis Lb. This allows the operational responsiveness and fuel efficiency of the flight device 10 to be optimized by adjusting the pitch angle θ of the blade main body 43 depending on the surrounding environment, such as wind strength when flying the flight device 10, and the usage environment, such as the weight of the payload loaded on the flight device 10.

[0039] 10, the blade body 43 can be rotated about the first axis L1 to achieve the stored state, as in the example shown in Fig. 7 above. Also, with the configuration shown in Fig. 10, the blade section 61 and the second connecting member 52 can be rotated together about the second axis L2 toward the upstream side of the propeller 30 to achieve the stored state, as in the examples shown in Figs. 8 and 9 above. Also, the blade body 43 and the fourth connecting member 63 can be rotated about the third axis L3 relative to the third connecting member 62, for example, toward the upstream side of the propeller 30 to achieve the stored state.

[0040] In the propeller 30 of the above embodiment, the blade portion 32 may be changed to, for example, the blade portion 61 shown in Fig. 10. With this configuration, the blade body 43 and the fourth connecting member 63 of the blade portion 61 can be placed in a stored state by rotating them toward the upstream side of the propeller 30 around the third axis L3 relative to the third connecting member 62.

[0041] The configuration of the rotation restricting portion 36 is not limited to that in the above embodiment, but can be changed as appropriate depending on the configuration of the propeller 30. In the propellers 30, 30A to 30C in the above-described embodiment and modified examples, the intersection X1 between the output axis La and the hinge axis Lb is set upstream of the boss portion 31, 51 on the propeller 30, but this is not limiting, and the intersection X1 may be set downstream of the boss portion 31, 51 on the propeller 30. In this case, the blade portions 32, 41, 61 are configured so that the pitch angle θ decreases when they rotate rearward in the direction of rotation Dr (i.e., toward the retracted position P2), and so that the pitch angle θ increases when they rotate forward in the direction of rotation Dr (i.e., toward the advanced position P3).

[0042] In the propellers 30, 30A to 30C in the above-described embodiment and modified examples, the output axis La and the hinge axis Lb may have a torsional relationship. In other words, the hinge axis Lb may not intersect with the output axis La (there may be no intersection point X1).

[0043] In the propellers 30, 30A to 30C in the above-described embodiments and modifications, the boss portion 31, 51 may be connected to the rotating shaft 22 of the motor 20 via a reducer or the like. Furthermore, in the propellers 30, 30A to 30C in the above-described embodiments and modifications, the boss portion 31, 51 is separate from the rotating shaft 22 of the motor 20. Alternatively, for example, the rotating shaft 22 of the motor 20 may be formed as an integrated part including the boss portion 31, 51. This configuration can prevent abnormal noise caused by axial misalignment between the rotating shaft 22 of the motor 20 and the boss portion 31, 51.

[0044] The number of propeller devices 12 provided in the flight device 10 is not limited to that in the above embodiment, but may be two, three, five or more. The main body 11 of the flying device 10 may not have the arm 14.

[0045] In the above embodiment, the present invention is applied to the propeller 30 used in the propeller device 12 of the flight device 10, but it may also be applied to a propeller used in a propeller device of a fan device provided on a vehicle or the like.

[0046] While the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to those embodiments or structures. The present disclosure also encompasses various modifications and equivalent modifications. In addition, various combinations and forms, including only one element, more than one element, or less than one element, are also within the scope and spirit of the present disclosure.

[0047] (Addendum) The features of the present disclosure are as follows: [1] A propeller (30, 30A, 30B, 30C) comprising a boss portion (31, 51) that rotates around an output axis (La) and a blade portion (32, 41, 61) that rotates together with the boss portion around the output axis, The blade portion is connected to the boss portion so as to be rotatable about a hinge axis (Lb) inclined relative to the output axis, and the blade portion is configured so that the pitch angle (θ) of the blade portion changes when the blade portion rotates about the hinge axis.

[0048] [2] The propeller described in [1] above, wherein the blade portion is configured to rotate rearward in the rotation direction of the boss portion around the hinge axis due to inertia when the rotation of the boss portion accelerates, and to rotate forward in the rotation direction of the boss portion around the hinge axis due to inertia when the rotation of the boss portion decelerates.

[0049] [3] The propeller described in [2] above, wherein the blade portion is configured so that the pitch angle increases when the blade portion rotates rearward in the rotation direction of the boss portion, and the pitch angle decreases when the blade portion rotates forward in the rotation direction of the boss portion.

[0050] [4] A propeller described in any one of [1] to [3] above, wherein the hinge axis is inclined so as to approach the output axis as it moves toward the upstream side of the propeller. [5] A propeller according to any one of [1] to [4] above, having an intersection (X1) where the output axis and the hinge axis intersect with each other.

[0051] [6] The propeller according to [5] above, wherein the intersection is set upstream of the boss portion of the propeller. [7] A propeller described in any one of [1] to [6] above, wherein the boss portion is provided with a rotation restriction portion (36) that restricts the rotation range of the blade portion around the hinge axis.

[0052] [8] A propeller described in any one of [1] to [7] above, wherein the blade portion comprises a first connecting member (42) rotatably connected to the boss portion around the hinge axis, and a blade main body (43) rotatably connected to the first connecting member around a first axis (L1) parallel to the output axis.

[0053] [9] A propeller described in any one of [1] to [8] above, wherein the blade portion is configured to be movable to a storage position by rotating around a second axis (L2) along the tangent direction of a reference circle (C1) centered on the output axis.

[0054]

[10] The propeller described in [9] above, wherein the boss portion comprises a base (33) and a second connecting member (52) rotatably connected to the base about the second axis, and the blade portion is rotatably connected to the second connecting member about the hinge axis.

[0055]

[11] The propeller described in [9] above, wherein the blade portion comprises a third connecting member (62) rotatably connected to the second connecting member of the boss portion around the hinge axis, a fourth connecting member (63) rotatably connected to the third connecting member around a third axis (L3) parallel to the second axis, and a blade main body (43) rotatably connected to the fourth connecting member around a first axis (L1) parallel to the output axis.

[0056]

[12] A propeller device (12) comprising a motor (20) and a propeller (30, 30A, 30B, 30C) that rotates when driven by the motor, wherein the propeller comprises a boss portion (31, 51) that rotates around an output axis (La) and a blade portion (32, 41, 61) that rotates together with the boss portion around the output axis, wherein the blade portion is connected to the boss portion so as to be rotatable around a hinge axis (Lb) that is inclined with respect to the output axis, and wherein the blade portion is configured so that the pitch angle (θ) of the blade portion changes when it rotates around the hinge axis.

[0057]

[13] A flying device (10) equipped with a propeller device (12) including a motor (20) and a propeller (30, 30A, 30B, 30C) that rotates when driven by the motor, wherein the propeller has a boss portion (31, 51) that rotates around an output axis (La) and a blade portion (32, 41, 61) that rotates together with the boss portion around the output axis, wherein the blade portion is connected to the boss portion so as to be rotatable around a hinge axis (Lb) that is inclined relative to the output axis, and wherein the blade portion is configured so that the pitch angle (θ) of the blade portion changes when it rotates around the hinge axis. [Explanation of symbols]

[0058] 10...flight device, 12...propeller device, 20...motor, 30, 30A, 30B, 30C...propeller, 31, 51...boss portion, 32, 41, 61...blade portion, 33...base portion, 36...rotation control portion, 42...first connecting member, 43...blade main body, 52...second connecting member, 62...third connecting member, 63...fourth connecting member, La...output axis, Lb...hinge axis, L1...first axis, L2...second axis, L3...third axis, θ...pitch angle, X1...intersection, C1...reference circle.

Claims

1. A propeller (30, 30A, 30B, 30C) including a boss portion (31, 51) that rotates around an output axis (La) and a blade portion (32, 41, 61) that rotates together with the boss portion around the output axis, The blade portion is connected to the boss portion so as to be rotatable about a hinge axis (Lb) inclined with respect to the output axis, The blade portion is configured so that a pitch angle (θ) of the blade portion changes by rotating around the hinge axis. propeller.

2. The blade portion is configured to rotate rearward in the rotation direction of the boss portion around the hinge axis due to inertia when the rotation of the boss portion accelerates, and to rotate forward in the rotation direction of the boss portion around the hinge axis due to inertia when the rotation of the boss portion decelerates.

2. The propeller of claim 1.

3. the blade portion is configured so that the pitch angle increases when the blade portion rotates rearward in the rotation direction of the boss portion, and the pitch angle decreases when the blade portion rotates forward in the rotation direction of the boss portion.

3. The propeller of claim 2.

4. The hinge axis is inclined so as to approach the output axis as it moves toward the upstream side of the propeller.

2. The propeller of claim 1.

5. An intersection point (X1) is provided where the output axis and the hinge axis intersect with each other.

2. The propeller of claim 1.

6. The intersection is set upstream of the propeller from the boss portion.

6. The propeller of claim 5.

7. The boss portion includes a rotation restricting portion (36) that restricts the rotation range of the blade portion around the hinge axis.

2. The propeller of claim 1.

8. The blade portion includes a first connecting member (42) connected to the boss portion so as to be rotatable about the hinge axis, and a blade main body (43) connected to the first connecting member so as to be rotatable about a first axis (L1) parallel to the output axis.

2. The propeller of claim 1.

9. The blade portion is configured to be able to move to a storage position by rotating about a second axis (L2) along a tangential direction of a reference circle (C1) centered on the output axis.

2. The propeller of claim 1.

10. The boss portion includes a base portion (33) and a second connecting member (52) connected to the base portion so as to be rotatable about the second axis line, The blade portion is connected to the second connecting member so as to be rotatable about the hinge axis.

10. The propeller of claim 9.

11. The blade portion includes a third connecting member (62) connected to the second connecting member of the boss portion so as to be rotatable about the hinge axis, a fourth connecting member (63) connected to the third connecting member so as to be rotatable about a third axis (L3) parallel to the second axis, and a blade main body (43) connected to the fourth connecting member so as to be rotatable about a first axis (L1) parallel to the output axis.

11. The propeller of claim 10.

12. A motor (20); propellers (30, 30A, 30B, 30C) that rotate when driven by the motor; A propeller device (12) comprising: The propeller includes a boss portion (31, 51) that rotates around an output axis (La), and a blade portion (32, 41, 61) that rotates together with the boss portion around the output axis, The blade portion is connected to the boss portion so as to be rotatable about a hinge axis (Lb) inclined with respect to the output axis, The blade portion is configured so that a pitch angle (θ) of the blade portion changes by rotating around the hinge axis. Propeller device.

13. A flight device (10) comprising a propeller device (12) including a motor (20) and a propeller (30, 30A, 30B, 30C) that rotates when driven by the motor, The propeller includes a boss portion (31, 51) that rotates around an output axis (La), and a blade portion (32, 41, 61) that rotates together with the boss portion around the output axis, The blade portion is connected to the boss portion so as to be rotatable about a hinge axis (Lb) inclined with respect to the output axis, The blade portion is configured so that a pitch angle (θ) of the blade portion changes by rotating around the hinge axis. flight equipment.

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