Thrust generator and vertical take-off and landing aircraft

Abstract

A thrust generator 100 comprises a cyclorotor 110 and at least one propeller 120. The cyclorotor 110 has a plurality of first blades 111 that extend in a direction parallel to a first central axis L1 on a cylindrical surface centered on the first central axis L1 and that are configured to rotate around the first central axis L1 and to be pivotable. The at least one propeller 120 has a plurality of second blades 121 that extend in a radial direction with respect to a second central axis L2 parallel to the first central axis L1 on a surface perpendicular to the second central axis L2 and that are configured to rotate around the second central axis L2. The at least one propeller 120 is disposed at least at one end of the cyclorotor 110 in a direction in which the first central axis L1 and the second central axis L2 extend.

Description

Thrust generator and vertical take-off and landing aircraft

[0001] The present disclosure relates to thrust producing systems and vertical take-off and landing aircraft.

[0002] The use of cyclorotors, which are quiet and easy to operate, as thrust generators for vertical take-off and landing aircraft such as drones is being considered. A cyclorotor has multiple blades parallel to a rotation axis, and generates thrust perpendicular to the rotation axis by rotating the pivotable blades around the rotation axis.

[0003] A typical cyclorotor does not have a mechanism for generating thrust parallel to the rotation axis. To generate thrust parallel to the rotation axis using a cyclorotor, the rotation axis must be tilted, which in turn requires tilting the attitude of the VTOL aircraft.

[0004] Patent Document 1 discloses a helicopter equipped with a cyclorotor, and Patent Document 2 discloses an aircraft equipped with a cyclorotor. In both, a propeller is arranged along a plane perpendicular to the rotation axis of the cyclorotor, and the propeller can generate thrust parallel to the rotation axis. In other words, by using a combination of a cyclorotor and a propeller, it is possible to generate thrust in various directions without tilting the aircraft.

[0005] JP 2009-51467 A U.S. Patent Application Publication No. 2018 / 16004

[0006] In Patent Document 1, the cyclorotor has a conical outer shape, so thrust is generated in a direction perpendicular to the side of the cone, not perpendicular to the rotation axis. Therefore, complex control involving adjustment of the thrust direction is required to generate thrust perpendicular to the rotation axis. In Patent Document 2, the propeller is located in the center of the cyclorotor, so the propeller may obstruct the airflow and reduce thrust generation efficiency. Therefore, in both cases, there is room for improvement in terms of efficiently generating thrust in directions perpendicular and parallel to the rotation axis.

[0007] An object of the present disclosure is to efficiently generate thrust in directions perpendicular and parallel to the axis of rotation in a thrust generating device and a vertical take-off and landing aircraft.

[0008] The present disclosure provides a thrust generating device comprising: a cyclorotor having a plurality of first blades extending parallel to a first central axis on a cylindrical surface centered on the first central axis, rotating about the first central axis, and configured to be pivotable; and at least one propeller having a plurality of second blades extending radially relative to a second central axis on a surface perpendicular to the second central axis and parallel to the first central axis, and configured to rotate about the second central axis, wherein the at least one propeller is disposed at at least one end of the cyclorotor in the direction in which the first and second central axes extend.

[0009] With this configuration, the cyclorotor can generate thrust in a direction perpendicular to the first central axis, and at least one propeller can generate thrust in a direction parallel to the second central axis. In particular, because the multiple first blades are arranged on a cylindrical surface centered on the first central axis, thrust in a direction perpendicular to the first central axis (radial direction) can be easily generated. Furthermore, the pivotability of the multiple first blades also makes it possible to adjust the generated thrust. Furthermore, because the propeller is arranged at the end of the cyclorotor rather than at the center of the cyclorotor, thrust can be efficiently generated without disturbing the flow field generated by the cyclorotor.

[0010] The plurality of second blades may be configured to have a variable angle of attack. Also, the at least one propeller may be configured to have a variable angle of attack such that all of the plurality of second blades have substantially the same angle of attack.

[0011] These configurations allow stable adjustment of the thrust generated by at least one propeller. Here, "substantially the same" does not mean that the thrust is completely the same, but rather that a difference of a few degrees is allowed, so long as the difference does not affect the thrust direction.

[0012] The at least one propeller may be two propellers, and the two propellers may be disposed at opposite ends of the cyclorotor in a direction in which the first and second central axes extend.

[0013] With this configuration, the two propellers can introduce air into the cyclorotor from both ends, thereby increasing the amount of air inside the cyclorotor and increasing the thrust generated by the cyclorotor, thereby enabling more efficient thrust generation.

[0014] The at least one propeller may consist of only one propeller, the one propeller being disposed at one end of the cyclorotor in the direction in which the first and second central axes extend, and the other end of the cyclorotor being closed.

[0015] With this configuration, air can be introduced into the interior of the cyclorotor from one end using a single propeller, thereby increasing the amount of air inside the cyclorotor and increasing the thrust generated by the cyclorotor, thereby enabling more efficient thrust generation.

[0016] The cyclorotor may include a plurality of first support members disposed in a region between both ends of the cyclorotor in a direction along which the first central axis extends and extending in a radial direction relative to the first central axis so as to support at least one of the plurality of first blades. The plurality of first support members may support the plurality of first blades at approximately the center of the region between both ends of the cyclorotor in a direction along which the first central axis extends.

[0017] These configurations allow the multiple first support members to improve the strength of the cyclorotor. In particular, the central portions of the multiple first blades are areas where increased strength is required, and the strength of the cyclorotor can be improved efficiently. Furthermore, the multiple first support members are disposed approximately in the center in the direction in which the first and second central axes extend, and the propeller is disposed at the end. Therefore, the multiple first support members and the propeller are disposed so as not to interfere with each other, thereby establishing a safe design. Here, "approximately in the center" refers to a region that is approximately one-third of the total length of the multiple first support members in the direction in which the first and second central axes extend.

[0018] A shaft member may be provided that connects the cyclorotor and the at least one propeller without rotating together with the plurality of first blades and the plurality of second blades.

[0019] According to this configuration, the attitude of the shaft member can be fixed, so that the rotation structure and eccentric structure of the plurality of first blades and the plurality of second blades can be easily configured at the starting point of the shaft member.

[0020] The present disclosure also provides a vertical take-off and landing aircraft including at least one cyclorotor as described above.

[0021] According to this configuration, thrust can be efficiently generated in various directions by the thrust generating device, thereby realizing a vertical take-off and landing aircraft that is energy-efficient and has excellent operability.

[0022] A plurality of the thrust generating devices may be provided, and the plurality of thrust generating devices may be attached such that the first central axes of the respective thrust generating devices are substantially parallel to one another.

[0023] With this configuration, the multiple thrust generating devices are mounted in the same orientation, stabilizing the thrust direction. Even with this type of mounting, thrust can be easily generated in the radial direction of the first central axis and in the direction in which the first central axis extends. Here, "substantially parallel" means not only perfect parallelism but also allowing for a tilt of a few degrees.

[0024] According to the present disclosure, in a thrust generating device and a vertical take-off and landing aircraft, thrust can be efficiently generated in directions perpendicular and parallel to the axis of rotation.

[0025] Fig. 1 is a perspective view of a vertical take-off and landing aircraft having a thrust generating system according to a first embodiment of the present invention. Fig. 2 is a plan view of the vertical take-off and landing aircraft of Fig. 1. Fig. 3 is a perspective view of the thrust generating system of Fig. 1. Fig. 4 is an enlarged view of portion IV of the thrust generating system of Fig. 3. Fig. 5 is a side view of the thrust generating system of Fig. 3. Fig. 6 is a side view showing the arrangement of a plurality of first blades and a plurality of second blades. Fig. 7 is a graph showing thrust by direction in the first embodiment. Fig. 8 is a graph showing thrust by direction in a comparative example. Fig. 9 is a perspective view of a thrust generating system according to a second embodiment.

[0026] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0027] 1 and 2 , a vertical take-off and landing aircraft 1 is an aircraft that takes off and lands vertically and performs horizontal cruising flight. The vertical take-off and landing aircraft 1 may be an unmanned aircraft such as a drone, or may be a manned aircraft that can carry a pilot and passengers.

[0028] The vertical take-off and landing aircraft 1 has a frame 10 provided in the center, wings 20 provided on the left and right sides of the frame 10, and thrust generating units 100 provided in front of and behind the frame 10. In the drawings, the longitudinal direction is indicated by reference symbol X (arrow points forward), the lateral direction is indicated by reference symbol Y (arrow points left), and the vertical direction is indicated by reference symbol Z (arrow points upward). However, these directions are for convenience of explanation and do not limit the orientation of the arrangement.

[0029] The frame 10 forms the framework of the vertical take-off and landing aircraft 1. In the illustrated example, the frame 10 is exposed for clarity of illustration, but a cover that covers the surface of the frame 10 may be attached.

[0030] The frame 10 has a ladder shape in a plan view, and supports the cyclorotor 110 at its front and rear ends at a predetermined height from the ground, allowing the cyclorotor 110 to be rotatably disposed and capable of generating thrust, as will be described later.

[0031] The frame 10 has a pair of arms 11 protruding outward on both the left and right sides at the center in the front-to-rear direction. The pair of arms 11 have a structure to which a propeller (not shown) can be attached. In the example shown, the ends of the pair of arms 11 are provided with a hoop structure to which a propeller (not shown) can be attached. Note that what can be attached to the arms 11 is not limited to a propeller, and the arms 11 do not have to be a pair.

[0032] The frame 10 has legs 12 extending downward. The legs 12 enable the vertical take-off and landing aircraft 1 to stand on its own.

[0033] Wings 20 are attached to both left and right outer sides of the frame 10. In the illustrated example, the wings 20 include a front left wing 21 on the left front side, a front right wing 22 on the right front side, a rear left wing 23 on the left rear side, and a rear right wing 24 on the right rear side. The front left wing 21, front right wing 22, rear left wing 23, and rear right wing 24 have the same approximate trapezoidal shape in a plan view. The pair of arms 11 are arranged between the front left wing 21 and the rear left wing 23 and between the front right wing 22 and the rear right wing 24.

[0034] Referring to Figures 3 to 5, the thrust generator 100 generates thrust for the vertical take-off and landing aircraft 1 to move. Hereinafter, the thrust generators 100 may be referred to by different reference numerals, such as the thrust generator 100A disposed at the front and the thrust generator 100B disposed at the rear (see Figures 1 and 2). The thrust generators 100A and 100B are structurally identical but are arranged symmetrically from front to rear. Therefore, the thrust generators 100A and 100B rotate in opposite directions. Furthermore, the thrust generators 100A and 100B are mounted so that their respective first central axes L1, which will be described later, are substantially parallel to each other. Note that when there is no need to distinguish between them, such as in structural explanations, they will simply be referred to as thrust generator 100. Furthermore, the number of thrust generators 100 is not particularly limited, and one, three, or more may be provided.

[0035] In this embodiment, the thrust generating device 100 has a cyclorotor 110 and a propeller 120. The cyclorotor 110 has a first central axis L1 and generates thrust in any direction, including front-to-rear and up-to-down (radial directions relative to the first central axis L1). The propeller 120 has a second central axis L2 parallel to the first central axis L1 and generates thrust in the left-to-right direction (parallel to the second central axis L2). Note that the first central axis L1 and the second central axis L2 do not coincide with each other and are arranged with a slight offset.

[0036] First, the cyclorotor 110 will be described.

[0037] 3 to 5, in this embodiment, the cyclorotor 110 has a plurality of first blades 111, a plurality of first support members 112, a center plate 113, and end plates 114.

[0038] The first blades 111 extend parallel to the first central axis L1 on a cylindrical surface centered on the first central axis L1 and rotate around the first central axis L1 (see arrow A1 in FIG. 3 ). Each of the first blades 111 has a rear edge in the rotational direction that is convex toward the rear in the rotational direction, and a front edge in the rotational direction that is linear and extends parallel to the first central axis L1.

[0039] The center plate 113 has a disk shape centered on the first central axis L1 and is disposed equidistant from the first blades 111.

[0040] The multiple first support members 112 are disposed in a region sandwiched between both ends of the cyclorotor 110 in the direction in which the first central axis L1 extends, and extend radially from the center plate 113 to the multiple first blades 111 in the radial direction of the first central axis L1. The multiple first support members 112 support approximately the centers of the multiple first blades 111 in the direction in which the first central axis L1 extends (left-right direction), and support central portions or trailing edge portions of the multiple first blades 111 in the rotation direction of the cyclorotor 110 (direction of arrow A1). In this embodiment, the multiple first support members 112 support all of the multiple first blades 111, but may be configured to support at least one of the multiple first blades 111.

[0041] The end plates 114 are disposed at both left and right ends of the thrust generating device 100. Hereinafter, they may be referred to by different reference numerals, such as end plate 114A disposed at the left end and end plate 114B disposed at the right end. The end plates 114A and 114B are structurally identical but are disposed symmetrically. When there is no need to distinguish between them, such as in structural explanations, they will be simply referred to as end plates 114.

[0042] The end plate 114 has a relatively small-diameter inner annular portion 114a, a relatively large-diameter outer annular portion 114b, and multiple beam-shaped portions 114c connecting these, which are concentrically arranged around the second central axis L2.

[0043] The outer annular portion 114b pivotally supports both left and right end portions of the plurality of first blades 111. In detail, the front edge portion of each of the plurality of first blades 111 is pivotally supported by the outer annular portion 114b.

[0044] Referring to FIG. 6 , only the first blades 111 and the second blades 121 are shown as components. In FIG. 6 , an imaginary circle about the first central axis L1 is indicated by a dashed line, and an imaginary circle about the second central axis L2 is indicated by a dashed two-dot line. In the rotation direction of the cyclorotor 110, the central portions or trailing edges of the first blades 111 rotate about the first central axis L1 (see dashed one-dot circle C1), and the leading edges of the first blades 111 rotate about the second central axis L2 (see dashed two-dot circle C2). That is, the first blades 111 have an eccentric rotation structure. This allows the pivot angle of the first blades 111 to be variable (see arrow a1 in FIG. 3 ). Here, the pivot angle is the angle θ formed by the chord with respect to the rotation direction about the second central axis L2 (dashed two-dot circle C2).

[0045] In the example of Figure 6, the pivot angle θ of each of the multiple first blades 111 is large on the upper and left sides and small on the right and lower sides. This is due to an eccentric structure in which the first central axis L1 is located above and to the left of the second central axis L2. In this case, thrust is exerted from the cyclorotor 110 in a downward and rightward direction (see arrow F). Therefore, thrust in a desired direction can be obtained by adjusting the positional relationship between the first central axis L1 and the second central axis L2.

[0046] Next, the propeller 120 will be described.

[0047] 3 to 5, in this embodiment, the propeller 120 is made up of two propellers 120A and 120B, which have the same structure. The propellers 120A and 120B share a second central axis L2, i.e., are arranged concentrically. The propellers 120A and 120B are arranged symmetrically on both ends of the cyclorotor 110 in the direction in which the second central axis L2 extends (the left-right direction). Note that when there is no need to distinguish between the two propellers 120A and 120B, such as in a structural explanation, they will be simply referred to as propellers 120.

[0048] In this embodiment, the propeller 120 includes a plurality of second blades 121, a bearing mechanism 122, a power transmission member 123, a joint ring 124, a plurality of second support members 125, and an end plate 114. The end plate 114 is shared by the cyclorotor 110 and the propeller 120.

[0049] The second blades 121 extend radially relative to the second central axis L2 on a plane perpendicular to the second central axis L2 (the X-Z plane) and rotate around the second central axis L2 (see arrow A2 in FIG. 3). Each of the second blades 121 is a flat, generally fan-shaped plate. The thickness of each of the second blades 121 near both ends in the direction of rotation (near the sides of the fan shape) is thinner than the other portions.

[0050] The inner annular portion 114a of the end plate 114 supports radially inner ends of the plurality of second blades 121, and the outer annular portion 114b supports radially outer ends of the plurality of second blades 121. In detail, the rotational center portion of each of the plurality of second blades 121 is journaled by the outer annular portion 114b and the inner annular portion 114a.

[0051] The bearing mechanism 122 has a mechanism such as a bearing that allows the inner annular portion 114a to rotate. A power transmission member 123 is attached to the inner annular portion 114a. The power transmission member 123 mechanically connects the end plate 114 to a power source (not shown) such as a motor or engine, and transmits rotational power from the power source to the end plate 114. The power transmission member 123 does not need to be provided on both propellers 120A and 120B; in the illustrated example, it is provided only on propeller 120A. The illustrated power transmission member 123 is shown with its shape omitted, and in reality, it has a shape that extends to the power source.

[0052] The joint ring 124 has a ring shape centered on the second central axis L2. The joint ring 124 is disposed adjacent to the inner annular portion 114a, with the second central axis L2 being its center. The joint ring 124 is disposed so as to be rotatable within a predetermined angular range, and is configured to be rotated within the predetermined angular range by a motor (not shown).

[0053] Referring to Fig. 4, the second support members 125 extend parallel to the second central axis L2 from the joint ring 124 to the radially inner ends of the second blades 121. Furthermore, the second support members 125 change the angles of attack (pitch angles) of the second blades 121 as the joint ring 124 rotates (see arrow a2 in Fig. 4). In this manner, the angles of attack of the second blades 121 are variable. In this embodiment, the angles of attack of the second blades 121 are controlled to be substantially the same. However, this is not limiting, and the angles of attack of the second blades 121 may be controlled to be different from one another.

[0054] In this embodiment, the cyclorotor 110 and the propeller 120 are also connected by a shaft member 130. The shaft members 130 are disposed on the left and right sides of the center plate 113. Hereinafter, the shaft members 130 may be referred to by different reference numerals, such as shaft member 130A disposed on the left side of the center plate 113 and connected to propeller 120A via a bearing, and shaft member 130B disposed on the right side and connected to propeller 120B. The shaft members 130A and 130B are structurally identical. Note that when there is no need to distinguish between them, such as in structural explanations, they will be simply referred to as shaft member 130.

[0055] Shaft members 130A and 130B extend along second central axis L2 and are connected to center plate 113 via bearings. Therefore, shaft member 130 does not rotate together with multiple first blades 111 and multiple second blades 121, and its posture is fixed.

[0056] The rotational operation of the cyclorotor 110 and the propeller 120 will now be described.

[0057] As described above, when rotational power is transmitted from the power source to the end plate 114, the end plate 114 rotates about the second central axis L2. As the end plate 114 rotates, the multiple first blades 111 and the multiple second blades 121 rotate. In this manner, the end plate 114, the leading edges of the multiple first blades 111, and the multiple second blades 121 all rotate about the second central axis L2. However, because the central portions or trailing edges of the multiple first blades 111 are connected to the multiple first support members 112 and the center plate 113, they rotate together with these about the first central axis L1. In other words, when power is transmitted from the power source to the end plate 114, both the cyclorotor 110 and the propeller 120 rotate.

[0058] The cyclorotor 110 generates thrust in any direction, including forward, backward, up, and down, by rotating a plurality of first blades 111 to blow out the air inside, and the propeller 120 can generate thrust in the left and right direction by rotating a plurality of second blades 121. This allows the vertical take-off and landing aircraft 1 to move freely in all directions.

[0059] 7 and 8, experimental results regarding the thrust exerted by the thrust generating device 100 of this embodiment will be described. In Figures 7 and 8, the vertical axis represents thrust [N] and the horizontal axis represents time [s]. The rotation speed was set to the same predetermined rotation speed in both Figures 7 and 8.

[0060] Fig. 7 shows a thrust F71 in a specific direction perpendicular to the first central axis L1 (for example, the direction of arrow F in Fig. 6 ) and a thrust F72 in the left-right direction generated by the thrust generator 100 of this embodiment. Fig. 8 shows a thrust F81 in a specific direction perpendicular to the first central axis L1 and a thrust F82 in the left-right direction generated by the thrust generator 100 of this embodiment when the propeller 120 is removed, as a comparative example.

[0061] Referring to FIG. 7 , in this embodiment, between 10 and 18 seconds, the average value of the thrust F71 is Fa [N], and the average value of the thrust F72 is approximately Fb [N]. On the other hand, referring to FIG. 8 , between 10 and 18 seconds, the average value of the thrust F81 is approximately Fc [N], and the average value of the thrust F82 is approximately 0 [N]. The average values ​​Fa [N] of the thrust F71 and Fc [N] of the thrust F81 are substantially the same. The average value Fb [N] of the thrust F72 is greater than zero. Therefore, compared to the comparative example, this embodiment can generate thrust in the left-right direction without substantially changing the specific direction perpendicular to the first center axis L1.

[0062] Furthermore, controlling the rotation of the propeller 120 not only provides thrust in the left and right directions but also increases the amount of air inside the cyclorotor 110. Specifically, when thrust in the left and right directions is not required, the propeller 120 may generate an airflow that draws air into the cyclorotor 110 equally from both the left and right sides. In this way, by increasing the amount of air inside the cyclorotor 110, the amount of air blown out from the cyclorotor 110 may be increased.

[0063] According to this embodiment, the following advantageous effects are achieved.

[0064] The cyclorotor 110 can generate thrust in a direction perpendicular to the first central axis L1, and the propeller 120 can generate thrust in a direction parallel to the second central axis L2. In particular, because the multiple first blades 111 are arranged on a cylindrical surface centered on the first central axis L1, thrust in a direction perpendicular to the first central axis L1 (radial direction) can be easily generated. Furthermore, because the propeller 120 is arranged at an end of the cyclorotor 110 rather than at the center of the cyclorotor 110, thrust can be efficiently generated without disturbing the flow field generated by the cyclorotor 110.

[0065] Furthermore, since the propellers 120A, 120B are provided at both ends of the cyclorotor 110, the propellers 120A, 120B can also introduce air into the interior of the cyclorotor 110 from both ends. This increases the amount of air inside the cyclorotor 110, and increases the thrust generated by the cyclorotor 110. Therefore, thrust can be generated more efficiently.

[0066] The multiple first support members 112 also improve the strength of the cyclorotor 110. In particular, the central portions of the multiple first blades 111 are areas where increased strength is required, and the strength of the cyclorotor 110 can be efficiently improved. In addition, in the left-right direction, the multiple first support members 112 are disposed in the central portion, and the propeller 120 is disposed at the end. Therefore, the multiple first support members 112 and the propeller 120 are disposed so as not to interfere with each other, thereby ensuring a safe design.

[0067] Furthermore, since the shaft member 130 does not rotate together with the plurality of first blades 111 and the plurality of second blades 121, it is possible to fix the posture of the plurality of shaft members 130. Therefore, the rotation structure and eccentric structure of the plurality of first blades 111 and the plurality of second blades 121 can be easily configured starting from the shaft member 130.

[0068] Furthermore, since the thrust generating device 100 can efficiently generate thrust in various directions, a vertical take-off and landing aircraft 1 that is energy-efficient and easy to operate can be realized.

[0069] Second Embodiment In a thrust generating device 100 of a second embodiment shown in Fig. 9, the propeller 120B (see Fig. 1) provided at the right end in the first embodiment is replaced with a closing plate 140. Other parts are substantially the same as those in the first embodiment. Therefore, a description of parts shown in the first embodiment may be omitted.

[0070] In this embodiment, the propeller 120 is provided only at the left end (one end) of the cyclorotor 110. That is, only the propeller 120A is provided. A closing plate 140 is disposed at the right end (the other end) of the cyclorotor 110.

[0071] The closing plate 140 has a dense disk shape and closes the right end of the cyclorotor 110 to prevent air from passing through. The closing plate 140 supports the first blades 111 and the shaft member 130.

[0072] According to this embodiment, air can be introduced into the interior of the cyclorotor 110 from one end thereof by using one propeller 120A. This increases the amount of air inside the cyclorotor 110, thereby increasing the thrust generated by the cyclorotor 110. Therefore, thrust can be generated more efficiently.

[0073] While specific embodiments of the present invention and their modifications have been described above, the present invention is not limited to the above-described embodiments and can be implemented with various modifications within the scope of the present invention. For example, an appropriate combination of the contents of the individual embodiments may be considered as one embodiment of the present invention.

[0074] The present disclosure may include the following aspects. (Aspect 1) A thrust generating device comprising: a cyclorotor having a plurality of first blades extending parallel to a first central axis on a cylindrical surface centered on the first central axis, rotating about the first central axis, and configured to pivot; and at least one propeller having a plurality of second blades extending radially relative to a second central axis on a surface perpendicular to the second central axis and parallel to the first central axis, and configured to rotate about the second central axis, wherein the at least one propeller is disposed at at least one end of the cyclorotor in a direction in which the first and second central axes extend. (Aspect 2) The thrust generating device according to Aspect 1, wherein the plurality of second blades are configured to have a variable angle of attack. (Aspect 3) The thrust generating device according to Aspect 2, wherein the at least one propeller is configured to have a variable angle of attack such that all of the plurality of second blades form substantially the same angle of attack. (Aspect 4) The thrust generating device according to any one of Aspects 1 to 3, wherein the at least one propeller consists of two propellers, and the two propellers are arranged at both ends of the cyclorotor in the direction in which the first and second central axes extend. (Aspect 5) The thrust generating device according to any one of Aspects 1 to 3, wherein the at least one propeller consists of only one propeller, and the one propeller is arranged at one end of the cyclorotor in the direction in which the first and second central axes extend, and the other end of the cyclorotor is closed. (Aspect 6) The thrust generating device according to any one of Aspects 1 to 5, wherein the cyclorotor is arranged in a region sandwiched between both ends of the cyclorotor in the direction in which the first central axis extends, and includes a plurality of first support members extending radially relative to the first central axis to support at least one of the plurality of first blades. (Aspect 7) The thrust generating device according to Aspect 6, wherein the plurality of first support members support the plurality of first blades at approximately the center of an area sandwiched between both ends of the cyclorotor in the direction in which the first central axis extends.(Aspect 8) The thrust generating device according to any one of Aspects 1 to 7, wherein a shaft member is provided that connects the cyclorotor and the at least one propeller without rotating together with the plurality of first blades and the plurality of second blades. (Aspect 9) A vertical take-off and landing aircraft comprising at least one thrust generating device according to any one of Aspects 1 to 8. (Aspect 10) The vertical take-off and landing aircraft according to Aspect 9, wherein a plurality of the thrust generating devices are provided, and the plurality of thrust generating devices are attached so that the first central axes of each of the thrust generating devices are approximately parallel to one another.

[0075] This application claims priority from Japanese Patent Application No. 2023-211377, filed December 14, 2023. Japanese Patent Application No. 2023-211377 is incorporated herein by reference.

[0076] DESCRIPTION OF SYMBOLS 1 Vertical take-off and landing aircraft 10 Frame 11 Arm 12 Leg 20 Wing 21 Front left wing 22 Front right wing 23 Rear left wing 24 Rear right wing 100 Thrust generating device 110, 110A, 110B Cyclorotor 111 First blade 112 First support member 113 Center plate 114, 114A, 114B End plate 114a Inner annular portion 114b Outer annular portion 114c Beam-shaped portion 120, 120A, 120B Propeller 121 Second blade 122 Bearing mechanism 123 Power transmission member 124 Joint ring 125 Second support member 130, 130A, 130B Shaft member 140 Closure plate

Claims

1. A thrust generating device comprising: a cyclorotor having a plurality of first blades extending in a direction parallel to a first central axis on a cylindrical surface centered on the first central axis, rotating about the first central axis, and configured to be pivotable; and at least one propeller having a plurality of second blades extending in a radial direction relative to the second central axis on a surface perpendicular to the second central axis that is parallel to the first central axis, and configured to rotate about the second central axis, wherein the at least one propeller is disposed at at least one end of the cyclorotor in the direction in which the first and second central axes extend.

2. A thrust generating device according to claim 1, wherein the plurality of second blades are configured to have a variable angle of attack.

3. A thrust generating device according to claim 2, wherein the at least one propeller is configured so that the angle of attack is variable so that all of the plurality of second blades form substantially the same angle of attack.

4. The thrust generating device according to claim 1, wherein the at least one propeller comprises two propellers, the two propellers being disposed on both ends of the cyclorotor in the direction in which the first and second central axes extend.

5. The thrust generating device according to claim 1, wherein said at least one propeller consists of only one propeller, said one propeller is disposed at one end of said cyclorotor in the direction in which said first and second central axes extend, and the other end of said cyclorotor is closed.

6. A thrust generating device as described in claim 1, wherein the cyclorotor is provided with a plurality of first support members disposed within an area between both ends of the cyclorotor in a direction in which the first central axis extends, and extending in a radial direction relative to the first central axis so as to support at least one of the plurality of first blades.

7. A thrust generating device as described in claim 6, wherein the plurality of first support members support the plurality of first blades at approximately the center of an area sandwiched between both ends of the cyclorotor in the direction in which the first central axis extends.

8. A thrust generating device as claimed in claim 1, further comprising a shaft member connecting said cyclorotor and said at least one propeller without rotating together with said plurality of first blades and said plurality of second blades.

9. A vertical take-off and landing aircraft comprising at least one thrust generating device according to any one of claims 1 to 8.

10. The vertical take-off and landing aircraft according to claim 9, wherein a plurality of the thrust generating devices are provided, and the plurality of thrust generating devices are mounted such that the first central axes of the thrust generating devices are substantially parallel to each other.

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