Flight device

Abstract

To provide a flying device capable of changing the direction of a motor without providing an actuator for changing the direction of the motor.SOLUTION: The flying device includes a body part having a unit support part 14, and a propulsion unit 12 supported by the unit support part 14. The propulsion unit 12 includes a motor 20 having a rotation shaft 22 and a propeller 30 coupled to the rotation shaft 22. The propeller 30 generates a thrust F in a direction along the rotation shaft 22 by rotating based on the driving of the rotation shaft 22. The motor 20 is configured such that the orientation of the rotating shaft 22 with respect to the vertical axis L1 of the main body changes based on the thrust F.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to flying devices. [Background technology]

[0002] Conventionally, some flying devices include a main body having a unit support section and multiple propulsion units supported on the unit support section (see, for example, Patent Document 1). Each propulsion unit includes a motor with a rotating shaft and a propeller connected to the rotating shaft. The propeller generates thrust in a direction along the rotating shaft by rotating based on the drive of the motor's rotating shaft. The flying device flies using the thrust generated by the rotation of the propeller in each propulsion unit. Furthermore, by varying the rotation speed of the propeller in each propulsion unit, the flying device can move forward, backward, yaw (turning), and other movements. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-132453 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described flying device, it is conceivable to install the motor at an angle relative to the vertical axis of the flying device in advance to obtain the driving force for forward, backward, yaw, etc. However, a configuration in which the motor is installed at an angle makes it difficult to ensure thrust in the direction along the vertical axis of the flying device, i.e., lift force. Therefore, it is conceivable to provide the flying device with an actuator that changes the orientation of the motor, but this configuration would result in problems such as an increase in the weight of the flying device.

[0005] An object of the present disclosure is to provide a flying device that is capable of changing the direction of a motor without having an actuator that changes the direction of the motor. [Means for solving the problem]

[0006] A flying device that solves the above problem is a flying device (10) comprising a main body (11) having a unit support (14) and a propulsion unit (12) supported on the unit support, wherein the propulsion unit comprises a motor (20) having a rotation shaft (22) and a propeller (30) connected to the rotation shaft, the propeller rotates based on the drive of the rotation shaft to generate thrust (F) in a direction along the rotation shaft, the motor is configured so that the orientation of the rotation shaft relative to the vertical axis (L1) of the main body changes based on the thrust, and the motor is configured so that the orientation of the rotation shaft is inclined relative to the vertical axis depending on the magnitude of the thrust.

[0007] According to the above-described flight device, the orientation of the motor's rotational axis can be changed by the thrust generated by the propeller. Specifically, the motor's rotational axis is tilted relative to the vertical axis depending on the magnitude of the thrust. Therefore, the direction of the propeller's thrust can be changed simply by changing the output of the motor, which serves as a drive source for generating thrust, without the need for an actuator to change the motor's orientation. As a result, the elimination of the need for an actuator can contribute to, for example, reducing the weight and cost of the flight device. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic plan view of a flying device according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram showing a portion including a propulsion unit in the flight device of the embodiment. [Figure 3] FIG. 3 is a schematic diagram showing a portion including a propulsion unit in the flight device of the embodiment. [Figure 4] FIG. 4 is a graph showing the relationship between the magnitude of the propeller thrust and the tilt angle of the rotation axis in the flight device of this embodiment. [Figure 5] FIG. 5 is a schematic diagram for explaining the operation of the flying device in this embodiment. [Figure 6] FIG. 6 is a schematic diagram for explaining the operation of the flying device in this embodiment. [Figure 7] FIG. 7 is a schematic diagram for explaining a flying device in a modified example. [Figure 8] FIG. 8 is a schematic diagram for explaining a flying device in a modified example. [Figure 9] FIG. 9 is a schematic diagram for explaining a flying device in a modified example. [Figure 10] FIG. 10 is a schematic diagram for explaining a flying device in a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of the flying device will now be described. The flight device 10 of this embodiment shown in Figure 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 aerial vehicle or a manned aerial vehicle.

[0010] (Configuration of flight device 10) The flight device 10 comprises a main body 11 and a plurality of propulsion units 12 . The main body 11 comprises a base 13 and multiple unit support members 14. In a plan view, the base 13 is located at the center of the flight device 10. The base 13 is a housing that houses, for example, a battery (not shown) and a control unit (not shown) that controls the operation of each propulsion unit 12. The main body 11 has an up-down axis L1 that passes through the center of the base 13. The up-down axis L1 is a straight line that extends along the direction of gravity when the flight device 10 is placed on a horizontal surface perpendicular to the direction of gravity. In the following description, the attitude of the flight device 10 when placed on the horizontal surface is referred to as the horizontal attitude. When the flight device 10 is in the horizontal attitude, the upward direction is referred to as the upside, and the opposite direction is referred to as the downside. Figure 1 is a plan view of the flight device 10 viewed from above along the up-down axis L1.

[0011] The main body 11 includes, for example, four unit support parts 14. Each of the multiple unit support parts 14 supports, for example, one propulsion unit 12. Each unit support part 14 includes, for example, an arm 15 extending from the base 13 and a mounting base 16 (see FIG. 2) fixed to the arm 15. That is, in this embodiment, four arms 15 are provided. Each arm 15 extends radially from, for example, a side surface of the base 13. As shown in FIG. 2, the mounting base 16 is provided, for example, on the upper surface at the tip of each arm 15. Note that FIG. 2 is a schematic diagram of the propulsion unit 12 and the arm 15 as viewed from the tip side of the arm 15.

[0012] (Configuration of propulsion unit 12) As shown in Figures 1 and 2, each propulsion unit 12 includes a motor 20 and a propeller 30. The motor 20 is provided above the mounting base 16. 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 rotation axis line L2 by power supplied from the battery. The drive of the motor 20 is controlled by the control unit. The propeller 30 is provided, for example, so as to be rotatable integrally with the rotating shaft 22 of the motor 20.

[0013] 2, the propeller 30 includes a hub 31 connected to the rotary shaft 22 of the motor 20 and a plurality of blades 32 extending radially from the hub 31. The propeller 30 includes, for example, two blades 32. The propeller 30 generates a thrust F in a direction along the rotary shaft 22 (i.e., a direction along the rotation axis L2) by the rotation of the plurality of blades 32 based on the rotational force of the rotary shaft 22. The flight device 10 lifts off due to the upward thrust F generated by the rotation of the propeller 30 in each propulsion unit 12.

[0014] In each propulsion unit 12, the motor 20 is configured so that the orientation of its own rotation axis 22 (rotation axis L2) relative to the vertical axis L1 changes based on the thrust F generated by the propeller 30 that rotates due to its own drive.

[0015] More specifically, each propulsion unit 12 further includes, for example, a hinge 41 and a biasing member 42. The hinge 41 connects the motor main body 21 and the mounting base 16 to each other. That is, the motor 20 is provided to be rotatable about the hinge 41 relative to the mounting base 16. The biasing member 42 is provided between the motor main body 21 and the mounting base 16. The biasing member 42 is, for example, a tension coil spring. One end of the biasing member 42 is connected to the upper surface of the mounting base 16, and the other end is connected to the lower surface of the motor main body 21. Note that the biasing member 42 may be connected to the mounting base 16 and the motor main body 21 by, for example, screw fastening, welding, or adhesive bonding. The biasing member 42 biases the motor 20, which is rotatably attached to the mounting base 16 by the hinge 41, in a direction toward the mounting base 16.

[0016] The motor 20 is configured to rotate about the hinge 41 to transition between a parallel position, in which the rotation axis L2 is parallel to the vertical axis L1, and an inclined position, in which the rotation axis L2 is inclined relative to the vertical axis L1. FIG. 2 shows the motor 20 in the parallel position, and FIG. 3 shows the motor 20 in the inclined position. As shown in FIG. 2, when the motor 20 is in the parallel position, the thrust F of the propeller 30, which is rotated by the drive of the motor 20, faces upward along the vertical axis L1. The biasing member 42 applies a biasing force to the motor 20 in a direction that maintains the parallel position. When the thrust F of the propeller 30 is small in a low-output state, the parallel position of the motor 20 is maintained by the biasing force of the biasing member 42. When the output of the motor 20, that is, the thrust F of the propeller 30, increases, the thrust F causes the motor 20 to rotate against the biasing force of the biasing member 42, and the motor 20 assumes the tilted position shown in FIG.

[0017] 4 is a graph showing the relationship between the magnitude of thrust F of propeller 30 and the tilt angle θ of rotation shaft 22 (rotation axis L2) with respect to the parallel posture. When the magnitude of thrust F of propeller 30 is in the range from zero to a predetermined value P, the parallel posture of motor 20 is maintained by the biasing force of biasing member 42. When thrust F of propeller 30 exceeds predetermined value P, motor 20 rotates against the biasing force of biasing member 42 and assumes an inclined posture. In the following description, the state in which the magnitude of thrust F of propeller 30 is in the range from zero to predetermined value P is referred to as a low output state, and the state in which thrust F of propeller 30 exceeds predetermined value P is referred to as a high output state.

[0018] 1, when the motors 20 of each propulsion unit 12 are in a parallel position, the rotation axis L2 of each propulsion unit 12 lies on a reference circle C1 whose center is the vertical axis L1. In other words, in this state, the distance from the vertical axis L1 to the rotation axis L2 of each propulsion unit 12 is equal to one another.

[0019] (Regarding the first propulsion unit 12A and the second propulsion unit 12B) The multiple propulsion units 12 include multiple first propulsion units 12A and multiple second propulsion units 12B. The first propulsion units 12A in this embodiment are two propulsion units 12 located diagonally. The second propulsion units 12B in this embodiment are two propulsion units 12 located diagonally. Each first propulsion unit 12A is configured to generate an upward thrust F by a propeller 30 that rotates in a forward direction. On the other hand, each second propulsion unit 12B is configured to generate an upward thrust F by a propeller 30 that rotates in a reverse direction. In other words, when the flight device 10 is flying, the propellers 30 of the first propulsion units 12A and the second propulsion units 12B rotate in opposite directions. Note that in this embodiment, the counterclockwise direction of the rotation of the propellers 30 when viewed from above the flight device 10 is defined as forward rotation and the clockwise direction as reverse rotation (see FIG. 5).

[0020] The first propulsion unit 12A and the second propulsion unit 12B have different tilt directions when the motors 20 are in a tilted posture. That is, in this embodiment, the mounting positions of the hinges 41 are different between the first propulsion unit 12A and the second propulsion unit 12B.

[0021] As shown in Figure 1, the clockwise direction around the vertical axis L1 when the flight device 10 is viewed from above is defined as the first yaw direction D1, and the opposite direction is defined as the second yaw direction D2. In each first propulsion unit 12A, the hinge 41 is provided at the end of the motor 20 on the forward side in the first yaw direction D1. In each second propulsion unit 12B, the hinge 41 is provided at the end of the motor 20 on the forward side in the second yaw direction D2. As a result, the tilt directions of the motors 20 when in a tilted attitude are opposite between the first propulsion unit 12A and the second propulsion unit 12B.

[0022] (Action of this embodiment) The operation of this embodiment will be described below. As the propellers 30 of each first propulsion unit 12A rotate forward and the propellers 30 of each second propulsion unit 12B rotate backward, an upward thrust F is generated in each propeller 30, causing the flight device 10 to lift off.

[0023] Here, we will explain the case where the flight device 10 is caused to perform yaw motion (turning motion), which is a rotational movement about the vertical axis L1. When the flight device 10 is caused to perform yaw motion in the first yaw direction D1, as shown in Figure 5, the rotational output of the propellers 30 in each first propulsion unit 12A is made higher than the rotational output of the propellers 30 in each second propulsion unit 12B. At this time, a yaw force in the first yaw direction D1 is generated due to the difference between the rotational output of the propellers 30 in each first propulsion unit 12A and the rotational output of the propellers 30 in each second propulsion unit 12B.

[0024] At this time, the thrust F of each second propulsion unit 12B is set to a low output state, so that the motors 20 of each second propulsion unit 12B are in a parallel posture. As a result, the direction of the thrust F of each second propulsion unit 12B is aligned along the vertical axis L1. In other words, the thrust F of each second propulsion unit 12B does not contribute to the yaw motion of the flight device 10.

[0025] Then, by setting the thrust F of each first propulsion unit 12A to a high-output state, the motor 20 of each first propulsion unit 12A is placed in a tilted attitude. In each first propulsion unit 12A, the direction of the thrust F when the motor 20 is in a tilted attitude is a direction that includes a component force F1 in the first yaw direction D1. Note that the component force F1 in the first yaw direction D1 is along the tangent direction of the reference circle C1. The yaw force generated by the difference in rotational output of the propellers 30 between the first propulsion unit 12A and the second propulsion unit 12B and the component force F1 of the thrust F of each first propulsion unit 12A cause the flight device 10 to yaw in the first yaw direction D1.

[0026] On the other hand, when the flight device 10 is caused to yaw in the second yaw direction D2, the rotational output of the propellers 30 in each second propulsion unit 12B is made higher than the rotational output of the propellers 30 in each first propulsion unit 12A, as shown in Fig. 6. At this time, a yaw force in the second yaw direction D2 is generated due to the difference between the rotational output of the propellers 30 in each second propulsion unit 12B and the rotational output of the propellers 30 in each first propulsion unit 12A.

[0027] At this time, the thrust F of each first propulsion unit 12A is set to a low output state, so that the motors 20 of each first propulsion unit 12A are in a parallel posture. As a result, the direction of the thrust F of each first propulsion unit 12A is aligned along the vertical axis L1. In other words, the thrust F of each first propulsion unit 12A does not contribute to the yaw motion of the flight device 10.

[0028] Then, by setting the thrust F of each second propulsion unit 12B to a high-output state, the motor 20 of each second propulsion unit 12B is placed in a tilted attitude. In each second propulsion unit 12B, when the motor 20 is in a tilted attitude, the direction of the thrust F is a direction that includes a component force F2 in the second yaw direction D2. Note that the component force F2 in the second yaw direction D2 is along the tangent direction of the reference circle C1. The yaw force generated by the difference in rotational output of the propellers 30 between the second propulsion unit 12B and the first propulsion unit 12A and the component force F2 of the thrust F of each second propulsion unit 12B cause the flight device 10 to yaw in the second yaw direction D2.

[0029] (Effects of this embodiment) The effects of this embodiment will be described below. (1) The propeller 30 generates thrust F in a direction along the rotation shaft 22 by rotating based on the drive of the rotation shaft 22 of the motor 20. The motor 20 is configured so that the orientation of the rotation shaft 22, which is based on the vertical axis L1 of the main body 11, changes based on the thrust F. The motor 20 also assumes an inclined posture in which the orientation of the rotation shaft 22 is inclined with respect to the vertical axis L1 depending on the magnitude of the thrust F of the propeller 30, which rotates due to the drive of the motor 20 itself. This configuration makes it possible to change the orientation of the rotation shaft 22 of the motor 20 using the thrust F generated by the propeller 30. Therefore, the direction of the thrust F of the propeller 30 can be changed simply by changing the output of the motor 20, which serves as a drive source for generating the thrust F, without providing an actuator for changing the orientation of the motor 20. As a result, the elimination of the need for an actuator can contribute to, for example, reducing the weight and cost of the flight device 10.

[0030] (2) The motor 20 assumes a parallel posture in which the rotation shaft 22 is oriented parallel to the vertical axis L1 depending on the magnitude of the thrust F of the propeller 30 that is rotated by the motor 20 itself. With this configuration, the motor 20 can be placed in a parallel posture or an inclined posture depending on the magnitude of the thrust F generated by the propeller 30.

[0031] (3) The motor 20 in the propulsion unit 12 is configured so that the direction of the thrust F when in a tilted attitude includes a component force in the yaw direction of the flight device 10. With this configuration, the thrust F causes the motor 20 to assume a tilted attitude, thereby providing a driving force for yaw motion.

[0032] (4) The multiple propulsion units 12 of the flight device 10 include multiple first propulsion units 12A that generate upward thrust F using forward-rotating propellers 30 and multiple second propulsion units 12B that generate upward thrust F using reverse-rotating propellers 30. The motor 20 of each of the multiple first propulsion units 12A is configured so that the direction of the thrust F when the flight device 10 is in a tilted attitude is a direction that includes a component force F1 in the first yaw direction D1 of the flight device 10. The motor 20 of each of the multiple second propulsion units 12B is configured so that the direction of the thrust F when the flight device 10 is in a tilted attitude is a direction that includes a component force F2 in a second yaw direction D2 that is opposite to the first yaw direction D1. With this configuration, by using the thrust F to place the motor 20 of the first propulsion unit 12A in a tilted attitude, it is possible to obtain a driving force for yaw motion in the first yaw direction D1. Furthermore, by using the thrust F to tilt the motor 20 of the second propulsion unit 12B, it is possible to obtain a driving force for yaw motion in the second yaw direction D2.

[0033] (5) In the motor 20 of each propulsion unit 12, the orientation of the rotating shaft 22 does not change until the thrust F reaches a predetermined value P (any magnitude), and the tilt angle θ of the rotating shaft 22 with respect to the vertical axis L1 changes when the thrust F exceeds the predetermined value P. With this configuration, it is possible to change the tilt angle θ of the rotating shaft 22 according to the magnitude of the thrust F.

[0034] (6) The propulsion unit 12 includes a hinge 41 that connects the motor 20 and the unit support part 14, and a biasing member 42 that is provided between the motor 20 and the unit support part 14. The motor 20 is configured to rotate around the hinge 41 relative to the unit support part 14 due to thrust F, thereby changing the orientation of the rotation shaft 22. With this configuration, the motor 20 can be placed in a parallel or tilted position depending on the magnitude of the thrust F.

[0035] (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.

[0036] The tilt direction of the motor 20 in each propulsion unit 12 when it is in a tilted attitude is not limited to that described in the above embodiment. For example, as shown in FIG. 7 , the mounting position of the hinge 41 may be set so that the direction of the thrust F when the motor 20 is in a tilted attitude includes a component force F3 in the forward direction of the flight device 10. With this configuration, by using the thrust F to tilt the motor 20, the component force F3 of the thrust F when in a tilted attitude can be used as the driving force for the forward motion of the flight device 10. Note that in the example shown in FIG. 7 , of the four propulsion units 12, only the motors 20 of the two front propulsion units 12 are configured to transition to a tilted attitude by the thrust F. However, the example shown in FIG. 7 is merely an example, and only the motors 20 of the two rear propulsion units 12 may be configured to transition to a tilted attitude by the thrust F. Furthermore, all of the motors 20 of each propulsion unit 12 may be configured to transition to a tilted attitude by the thrust F. The mounting position of the hinge 41 may be set so that the direction of the thrust F when the motor 20 is in an inclined attitude includes a component force in the backward direction of the flight device 10.

[0037] 8, the mounting position of the hinge 41 may be set so that the direction of the thrust F when the motor 20 is tilted in each propulsion unit 12 includes a component force F4 acting radially inward about the vertical axis L1. With this configuration, the component force F4 generated in each propulsion unit 12 can stabilize the flight operation of the flight device 10.

[0038] 9, the mounting position of the hinge 41 may be set so that the direction of the thrust F when the motor 20 is tilted in each propulsion unit 12 includes a component force F5 acting radially outward about the vertical axis L1. With this configuration, the component force F5 generated in each propulsion unit 12 can improve the agility of the flight operation of the flight device 10.

[0039] The propulsion unit 12 may be configured such that the motor 20 assumes an inclined posture when the thrust F is in a low-output state and assumes a parallel posture when the thrust F is in a high-output state where the thrust F is higher than the low-output state. For example, in the configuration shown in FIG. 10 , the mount 16 is attached to the underside of the arm 15, and the motor 20 is provided below the mount 16 via a hinge 41. The biasing member 42 is, for example, a compression coil spring. The biasing member 42 biases the motor 20, which is rotatably attached to the mount 16 by the hinge 41, in a direction away from the mount 16. That is, in the example shown in FIG. 10 , the biasing member 42 applies a biasing force to the motor 20 in a direction to maintain the inclined posture. In this example, when the thrust F of the propeller 30 is in a low-output state where it is small, the biasing force of the biasing member 42 maintains the inclined posture of the motor 20. When the thrust F of the propeller 30 increases, the thrust F causes the motor 20 to rotate against the biasing force of the biasing member 42 and transition to a parallel posture. With this configuration, when the thrust F is in a low output state, the biasing force of the biasing member 42 can maintain the inclined posture of the motor 20, and when the thrust F is in a high output state, the thrust F can transition the motor 20 to a parallel posture. This configuration also makes it possible to transition the motor 20 between the parallel posture and the inclined posture depending on the magnitude of the thrust F. In the example shown in FIG. 10, the biasing member 42 may be formed of a torsion spring, rubber, thread, or the like, in addition to a compression coil spring.

[0040] In the above embodiment, the biasing member 42 may be made of a torsion spring, rubber, thread, or the like other than a tension coil spring. The unit support portion 14 may not have the mounting base 16. In this case, the motor 20 may be connected to the arm 15 via a hinge 41.

[0041] The unit support portion 14 may not be provided with the arm 15 . In the propulsion unit 12 of the above embodiment, the motor 20 is connected to the unit support part 14 via a hinge 41, but this is not particularly limited and a connection form other than the hinge 41 may be used. For example, the motor 20 may be fixed to the unit support part 14 via a plurality of elastic bodies (e.g., rubber) with different elastic moduli. In this configuration, the elastic moduli of the plurality of elastic bodies that fix the motor 20 are different from one another, so that the orientation of the rotation shaft 22 of the motor 20 can be changed by the thrust F of the propeller 30.

[0042] In each propulsion unit 12, the propeller 30 may be connected to the rotating shaft 22 of the motor 20 via, for example, a reducer or the like. In the above embodiment, the motors 20 in all four propulsion units 12 are configured to be able to transition between a parallel posture and an inclined posture, but it is also possible to configure only the motors 20 in some of the propulsion units 12 to be able to transition between a parallel posture and an inclined posture.

[0043] The number of propulsion units 12 provided in the flight device 10 is not limited to that in the above embodiment, but may be two, three, five or more. 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.

[0044] (Addendum) The features of the present disclosure are as follows: [1] A flying device (10) comprising a main body (11) having a unit support (14) and a propulsion unit (12) supported on the unit support, wherein the propulsion unit comprises a motor (20) having a rotation shaft (22) and a propeller (30) connected to the rotation shaft, the propeller rotates based on the drive of the rotation shaft to generate thrust (F) in a direction along the rotation shaft, the motor is configured so that the orientation of the rotation shaft relative to a vertical axis (L1) of the main body changes based on the thrust, and the motor assumes an inclined attitude in which the orientation of the rotation shaft is inclined relative to the vertical axis depending on the magnitude of the thrust.

[0045] [2] The flight device described in [1] above, wherein the motor assumes a parallel posture in which the direction of the rotation axis is parallel to the vertical axis depending on the magnitude of the thrust. [3] The flight device described in [1] or [2] above, wherein the motor is configured so that the direction of the thrust when in the tilted attitude is a direction that includes a component force (F1, F2) in the yaw direction (D1, D2) of the flight device.

[0046] [4] The flight device described in [3] above is equipped with a plurality of the propulsion units, the plurality of propulsion units including a plurality of first propulsion units (12A) and a plurality of second propulsion units (12B), the plurality of propulsion units are configured to obtain the upward thrust by rotating the propellers of the first propulsion units and the second propulsion units in opposite directions to each other, and the yaw component force of the first propulsion units and the second propulsion units when in the tilted attitude is configured to be in opposite directions to each other.

[0047] [5] A flight device described in any one of [1] to [4] above, wherein the orientation of the rotation axis does not change until the thrust reaches a certain magnitude, and when the thrust exceeds the certain magnitude, the inclination angle (θ) of the rotation axis relative to the vertical axis changes.

[0048] [6] A flight device as described in any one of [1] to [5] above, wherein the propulsion unit comprises a hinge (41) connecting the motor and the unit support part, and a biasing member (42) provided between the motor and the unit support part to apply a biasing force to the motor, and the motor is configured to rotate around the hinge relative to the unit support part by the thrust, thereby changing the orientation of the rotation axis. [Explanation of symbols]

[0049] 10...flight device, 11...main body, 12...propulsion unit, 12A...first propulsion unit, 12B...second propulsion unit, 14...unit support, 20...motor, 22...rotating shaft, 30...propeller, 41...hinge, 42...biasing member, L1...vertical axis, F...thrust, θ...tilt angle, D1...first yaw direction, D2...second yaw direction.

Claims

1. a main body (11) having a unit support (14); a propulsion unit (12) supported on the unit support portion; A flying device (10) comprising: The propulsion unit includes a motor (20) having a rotating shaft (22) and a propeller (30) connected to the rotating shaft; the propeller rotates based on the drive of the rotation shaft to generate thrust (F) in a direction along the rotation shaft; The motor is configured so that the orientation of the rotation axis relative to the vertical axis (L1) of the main body changes based on the thrust, The motor is in an inclined position in which the rotation axis is inclined with respect to the vertical axis according to the magnitude of the thrust. flight equipment.

2. The motor is in a parallel position in which the rotation axis is parallel to the vertical axis according to the magnitude of the thrust. The flight device according to claim 1 .

3. The motor is configured so that the direction of the thrust when the flight device is in the tilted attitude is a direction that includes a component force (F1, F2) in the yaw direction (D1, D2) of the flight device. The flight device according to claim 1 .

4. the flight device comprises a plurality of the propulsion units; the plurality of propulsion units include a plurality of first propulsion units (12A) and a plurality of second propulsion units (12B); the plurality of propulsion units are configured to obtain the upward thrust by the propellers of the first propulsion unit and the second propulsion unit rotating in opposite directions to each other, The components of the yaw direction of the first propulsion unit and the second propulsion unit when the aircraft is in the tilted attitude are directed in opposite directions. The flight device according to claim 3.

5. The orientation of the rotation axis does not change until the thrust reaches a certain magnitude, and when the thrust exceeds the certain magnitude, the inclination angle (θ) of the rotation axis with respect to the vertical axis changes. The flight device according to claim 1 .

6. The propulsion unit includes a hinge (41) that connects the motor and the unit support part, and a biasing member (42) that is provided between the motor and the unit support part and applies a biasing force to the motor, the motor is configured to rotate around the hinge relative to the unit support part by the thrust, thereby changing the orientation of the rotation axis; The flight device according to claim 1 .

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