Rotary wing aircraft and frame unit for rotary wing aircraft

Abstract

Provided is a frame unit for a rotary wing aircraft, said frame unit having a simple structure and being sturdy with a lightweight structure, as well as a rotary wing aircraft in which the same is used. [Solution] A rotary wing aircraft 2 comprises a frame unit 10 for a rotary wing aircraft, and a boarding seat 20. The frame unit 10 for a rotary wing aircraft comprises a standard frame 11. The standard frame 11 comprises a front member 11F that is positioned to the front of the boarding seat 20, a rear member 11B that is positioned to the rear of the boarding seat 20, a left member 11L that is positioned on the left side of the boarding seat 20, a right member 11R that is positioned on the right side of the boarding seat 20, and eight rotors 11T that are provided to the front member 11F and the rear member 11B. The front member 11F comprises an upper cylinder part 11F1 that extends in an X direction, a lower cylinder part 11F2 that is configured so as to follow along the upper cylinder part 11F1 and is positioned below the upper cylinder part 11F1 in a Z direction, and a coupling structure 11F5 that couples the upper cylinder part 11F1 and the lower cylinder part 11F2.

Description

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

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

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

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

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

[0005] When the rotary-wing aircraft is for passenger use or large-scale cargo transportation, a large lift is required, and accordingly, a higher output of the rotor is required. To increase the output of the rotor, a robust support structure (frame) is required, but strengthening the support structure complicates the structure and causes an increase in the weight of the rotary-wing aircraft. Then, due to the increase in the weight of the rotary-wing aircraft, further increase in the output of the rotor is required.

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

[0007] The present invention relates to a frame unit for a rotary-wing aircraft, comprising a frame having a first position on which a first rotor is provided and a second position on which a second rotor is provided, wherein, when the portion of the frame from the first position to the second position is defined as the frame portion, the frame portion comprises a first frame portion extending from the first position toward the second position and a second frame portion arranged along the first frame portion, and the first frame portion and the second frame portion are connected directly or indirectly.

[0008] The first frame portion and the second frame portion are preferably cylindrical. Furthermore, the first frame portion is preferably located higher than the second frame portion.

[0009] It is preferable that the first frame portion and the second frame portion are aligned vertically. It is preferable that the first frame portion and the second frame portion are directly connected. It is preferable that a connecting structure is provided, which is located between the first frame portion and the second frame portion and connects the first frame portion and the second frame portion. It is preferable that the distance between the first frame portion and the second frame portion is smaller than the outer dimensions of either the first frame portion or the second frame portion.

[0010] The first frame portion and the second frame portion are formed in a cylindrical or columnar shape, and the distance between the first frame portion and the second frame portion is preferably smaller than the diameter of either the first frame portion or the second frame portion. The connecting structure comprises a first connecting structure and a second connecting structure, and the line connecting the center of the first frame portion and the center of the second frame portion preferably passes between the first connecting structure and the second connecting structure.

[0011] Preferably, the connecting structure comprises a first connecting structure and a second connecting structure.

[0012] Preferably, the connecting structure extends along the frame portion from the first position to the second position.

[0013] Preferably, the connecting structures are arranged along the frame portion with intervals between them from the first position to the second position.

[0014] The frame further comprises a passenger seat or a mounting platform, and the frame comprises a first rotor-side member including a first frame portion, a second rotor-side member including a second frame portion, a first mating member having one side connected to the first rotor-side member and the other side connected to the second rotor-side member, and a second mating member having one side connected to the first rotor-side member and the other side connected to the second rotor-side member, wherein the passenger seat or the mounting platform described above is disposed between the first mating member and the second mating member, and preferably the first mating member and the second mating member cross the passenger seat or the mounting platform described above.

[0015] The rotary-wing aircraft of the present invention is characterized by comprising the above-described frame unit for a rotary-wing aircraft.

[0016] According to the present invention, it is possible to provide a frame unit for a rotary-wing aircraft that is simple in structure, lightweight, and robust, as well as a rotary-wing aircraft using the same.

[0017] This is a schematic left side view showing the outline of a rotary-wing aircraft. This is a schematic perspective view showing the outline of a rotary-wing aircraft. This is a schematic exploded perspective view showing the outline of a rotary-wing aircraft. This is a schematic exploded perspective view showing the outline of a rotary-wing aircraft. This is a schematic plan view showing the outline of the basic frame. This is a schematic cross-sectional view taken along the line VI-VI' showing the outline of the front member. This is a schematic cross-sectional view taken along the line VII-VII' showing the outline of the left member. This is a schematic perspective view showing the outline of the landing gear structure. This is a schematic cross-sectional view taken along the line IX-IX' showing the outline of the passenger seat. This is a schematic perspective view showing the outline of the base. This is a schematic functional block diagram showing the outline of a rotary-wing aircraft. (A) is a schematic perspective view showing the outline of the front member. (B) is a schematic perspective view showing the outline of the front member (modified version). This is a schematic cross-sectional view taken along the line VI-VI' showing the outline of the front member (modified version). (A) and (B) are schematic perspective views showing the outline of the front member (modified version). (A) to (C) are schematic cross-sectional views taken along the line VI-VI', showing an outline of the front member (modified example). (A) to (B) are schematic cross-sectional views taken along the line VI-VI', showing an outline of the front member (modified example). (A) to (B) are schematic plan views showing an outline of the standard frame (modified example). (A) to (B) are schematic plan views showing an outline of the standard frame (modified example).

[0018] (Rotary-wing aircraft) As shown in Figure 1, the rotary-wing aircraft 2 comprises a rotary-wing aircraft frame unit 10, a passenger seat 20, an operation panel 30, a battery device 40, and a control device 80 that controls each component and device.

[0019] For the sake of explanation, the forward, backward, left, and right directions refer to the directions as viewed from passenger seat 20. Furthermore, the forward-backward direction in the horizontal plane is defined as the X direction, the left-right direction in the horizontal plane (perpendicular to the X direction) is defined as the Y direction, and the direction perpendicular to the horizontal plane is defined as the Z direction.

[0020] (Rotary-wing aircraft frame unit) As shown in Figures 1 and 2, the rotary-wing aircraft frame unit 10 comprises a base frame 11, an upper frame 12 positioned above the base frame 11 in the Z direction, an upper support structure 13 provided on the base frame 11 to support the upper frame 12, a landing gear structure 14 positioned below the base frame 11 in the Z direction, and a landing gear support structure 15 provided on the base frame 11 to support the landing gear structure 14.

[0021] (Reference Frame) As shown in Figures 3 to 5, the reference frame 11 comprises a front member 11F (rotor-side member) positioned in front of the seat 21 of the passenger seat 20 (Figure 4; details will be described later), a rear member 11B (rotor-side member) positioned behind the seat 21, a left member 11L (opposing member) positioned to the left of the seat 21, a right member 11R (opposing member) positioned to the right of the seat 21, eight rotors 11T provided on the front member 11F and the rear member 11B, eight motors 11M that drive the rotors 11T, and a coupling 11G that connects each of the members 11F, 11B, 11L, and 11R.

[0022] (Front and Rear Members) As shown in Figure 5, the front member 11F and the rear member 11B each extend in the Y direction and are arranged at a predetermined interval in the X direction. It is preferable that the front member 11F and the rear member 11B are parallel to each other.

[0023] As shown in Figures 4 to 6, the front member 11F comprises an upper cylindrical portion 11F1 (first frame portion) extending in the Y direction, a lower cylindrical portion 11F2 (second frame portion) positioned along the upper cylindrical portion 11F1 and below the upper cylindrical portion 11F1 in the Z direction, and a connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. Preferably, the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 are aligned vertically.

[0024] As shown in Figure 6, the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 are each formed in a cylindrical shape. The length, inner diameter, and outer diameter D1 of the upper cylindrical portion 11F1 and the length, inner diameter, and outer diameter D1 of the lower cylindrical portion 11F2 are the same. Preferably, the distance CL1 between the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 is smaller than the diameter D1 of the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2.

[0025] The inner and outer diameters of the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 can be determined according to the purpose, but it is preferable that the dimensions of the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 are approximately the same.

[0026] The connecting structure 11F5 is formed in a plate shape and is arranged along the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. The connecting structure 11F5 extends from the left end to the right end of the upper cylindrical portion 11F1. The thickness direction of the connecting structure 11F5 is the X direction. The upper end of the connecting structure 11F5 is fixed to the lower surface 11F1U of the upper cylindrical portion 11F1, and the lower end of the connecting structure 11F5 is fixed to the upper surface 11F2T of the lower cylindrical portion 11F2. The dimensions and plate thickness of the connecting structure 11F5 can be determined according to the purpose. It is preferable that the plate thickness T1 of the connecting structure 11F5 is smaller than the diameter D1 of the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2.

[0027] As shown in Figure 5, the rear member 11B has the same structure as the front member 11F, and comprises an upper cylindrical portion (first frame portion) extending in the Y direction, a lower cylindrical portion (second frame portion) positioned along the upper cylindrical portion and below it in the Z direction, and a connecting structure that connects the upper cylindrical portion and the lower cylindrical portion. Since the upper cylindrical portion, the lower cylindrical portion and the connecting structure are the same as those of the front member 11F, a detailed explanation thereof will be omitted.

[0028] (Left and Right Members) As shown in Figures 4 and 5, the left member 11L and the right member 11R each extend in the X direction and are arranged at a predetermined interval in the Y direction. It is preferable that the left member 11L and the right member 11R are parallel to each other.

[0029] As shown in Figure 7, the left member 11L comprises an upper cylindrical portion 11L1 (first frame portion) extending in the X direction, a lower cylindrical portion 11L2 (second frame portion) extending in the X direction and positioned below the upper cylindrical portion 11L1 in the Z direction, and a connecting structure 11L5 that connects the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2.

[0030] The upper cylindrical portion 11L1 and the lower cylindrical portion 11L2 are formed in a cylindrical shape. The length, inner diameter, and outer diameter of the upper cylindrical portion 11L1, and the length, inner diameter, and outer diameter of the lower cylindrical portion 11L2 are the same. Preferably, the distance CL2 between the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2 is smaller than the diameter D2 of the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2.

[0031] The connecting structure 11L5 is formed in a plate shape and is arranged along the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2. The connecting structure 11L5 extends from the left end to the right end of the upper cylindrical portion 11L1. The thickness direction of the connecting structure 11L5 is the Y direction. The upper end of the connecting structure 11L5 is joined to the lower surface 11L1U of the upper cylindrical portion 11L1, and the lower end of the connecting structure 11L5 is joined to the upper surface 11L2T of the lower cylindrical portion 11L2. The dimensions and plate thickness of the connecting structure 11L5 can be determined according to the purpose. It is preferable that the plate thickness T2 of the connecting structure 11L5 is smaller than the diameter D2 of the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2.

[0032] The right member 11R has the same structure as the left member 11L, and comprises an upper cylindrical portion (first frame portion) extending in the X direction, a lower cylindrical portion (second frame portion) positioned along the upper cylindrical portion and below it in the Z direction, and a connecting structure that connects the upper cylindrical portion and the lower cylindrical portion. Since the upper cylindrical portion, the lower cylindrical portion and the connecting structure are the same as those of the left member 11L, a detailed explanation thereof will be omitted.

[0033] (Joints) As shown in Figure 5, the front end of the left member 11L is connected to the middle section of the front member 11F (for example, the middle section to the left of the center in the Y direction) by the first joint 11G. The front end of the right member 11R is connected to the middle section of the front member 11F (for example, the middle section to the right of the center in the Y direction) by the second joint 11G. The rear end of the left member 11L is connected to the middle section of the rear member 11B (for example, the middle section to the left of the center in the Y direction) by the third joint 11G. The rear end of the right member 11R is connected to the middle section of the rear member 11B (for example, the middle section to the right of the center in the Y direction) by the fourth joint 11G. As a result, the front member 11F, rear member 11B, left member 11L, and right member 11R are connected to each other in a manner that surrounds the chair 21.

[0034] Preferably, the reference frame 11 further comprises side reinforcing members 11H arranged on both the left and right sides of the chair 21, a front reinforcing member 11J arranged in front of the chair 21, and a rear reinforcing member 11K arranged behind the chair 21.

[0035] (Side reinforcing members) The first side reinforcing member 11H is connected by a joint 11G to the left end of the front member 11F and to the middle part of the left member 11L (for example, the middle part in front of the chair 21). The second side reinforcing member 11H is connected by a joint 11G to the right end of the front member 11F and to the middle part of the right member 11R (for example, the middle part in front of the chair 21). The third side reinforcing member 11H is connected by a joint 11G to the left end of the rear member 11B and to the middle part of the left member 11L (for example, the middle part behind the chair 21). The fourth side reinforcing member 11H is connected by a joint 11G to the right end of the rear member 11B and to the middle part of the right member 11R (for example, the middle part behind the chair 21).

[0036] Each side reinforcing member 11H preferably has the same structure as the left member 11L, etc. That is, each side reinforcing member 11H preferably comprises an upper cylindrical portion extending from one position to the other, a lower cylindrical portion positioned below the upper cylindrical portion in the Z direction along the upper cylindrical portion, and a connecting structure that connects the upper cylindrical portion and the lower cylindrical portion. The upper cylindrical portion and the lower cylindrical portion of each side reinforcing member 11H are connected to the upper cylindrical portion and the lower cylindrical portion of the opposing member via a joint 11G, respectively. Note that the upper cylindrical portion, the lower cylindrical portion and the connecting structure are the same as those of the left member 11L, etc., so a detailed explanation thereof is omitted.

[0037] (Front Reinforcement Member) The front reinforcement member 11J comprises a front reinforcing horizontal bar 11J1 extending in the Y direction and positioned in front of the chair 21, and a front reinforcing vertical bar 11J2 extending in the X direction and positioned in front of the chair 21. The left end of the front reinforcing horizontal bar 11J1 is connected to the left member 11L (for example, the upper cylindrical part) via a joint 11G, and the right end of the front reinforcing horizontal bar 11J1 is connected to the right member 11R (for example, the upper cylindrical part) via a joint 11G. The rear end of the front reinforcing vertical bar 11J2 is connected to the center of the front reinforcing horizontal bar 11J1 in the Y direction via a joint 11G, and the front end of the front reinforcing vertical bar 11J2 is connected to the center of the front member 11F (for example, the upper cylindrical part) in the Y direction via a joint 11G.

[0038] (Rear Reinforcement Member) The rear reinforcement member 11K comprises a rear reinforcing horizontal bar 11K1 extending in the Y direction and positioned behind the chair 21, and a rear reinforcing vertical bar 11K2 extending in the X direction and positioned behind the chair 21. The left end of the rear reinforcing horizontal bar 11K1 is connected to the left member 11L (for example, the upper cylindrical part) via a joint 11G, and the right end of the rear reinforcing horizontal bar 11K1 is connected to the right member 11R (for example, the upper cylindrical part) via a joint 11G. The rear end of the rear reinforcing vertical bar 11K2 is connected to the center of the rear reinforcing horizontal bar 11K1 in the Y direction via a joint 11G, and the front end of the rear reinforcing vertical bar 11K2 is connected to the center of the front member 11F (for example, the upper cylindrical part) in the Y direction via a joint 11G.

[0039] The rigidity of the frame body, which consists of the front member 11F, rear member 11B, left member 11L, and right member 11R, is improved by the side reinforcing member 11H, the front reinforcing member 11J, and the rear reinforcing member 11K.

[0040] (Rotor) As shown in Figures 3-4 and 6, the rotor 11T is driven by the motor 11M and is, for example, a propeller-shaped rotor. Preferably, the rotor 11T has multiple propeller-shaped rotors. When the rotor 11T is driven by the motor 11M, the rotors rotate at a rotational speed in a predetermined rotational direction, thereby generating lift or thrust for the rotorcraft 2. Note that the rotor may be a helicopter rotor instead of a propeller-shaped rotor.

[0041] In the front member 11F, rotors 11T are provided at both ends in the Y direction on the upper surface 11F1T of the upper cylindrical portion 11F1, and rotors 11T are also provided at both ends in the Y direction on the lower surface 11F2U of the lower cylindrical portion 11F2. In the rear member 11B, rotors 11T are provided at both ends in the Y direction on the upper surface of the upper cylindrical portion 11B1, and rotors 11T are also provided at both ends in the Y direction on the lower surface of the lower cylindrical portion 11B2. Here, in the upper cylindrical portion and lower cylindrical portion of the front member 11F and the rear member 11B, the portion from the left end (first position) where the rotor 11T is provided to the right end (second position) where the rotor 11T is provided is referred to as the frame portion. The number and position of the rotors 11T are not particularly limited and can be determined, for example, according to the number and position of the motors 11M provided. The number of blades provided on each rotor 11T is also not particularly limited. For example, the rotor 11T may be a contra-rotating propeller or the like.

[0042] (Motor) The motor 11M supplies a driving force for rotating the rotor 11T, and obtains energy from the battery device 40 (FIG. 1) by the control device 80 (FIG. 1). As shown in FIGS. 3 and 6, the motor 11M is provided in the vicinity of the rotor 11T to be driven. That is, the motor 11M is provided on the upper surfaces 11F1T at both ends in the Y direction of the upper cylindrical portion 11F1 of the front member 11F, on the lower surfaces 11F2U at both ends in the Y direction of the lower cylindrical portion 11F2 of the front member 11F, on the upper surfaces 11B1T at both ends in the Y direction of the upper cylindrical portion of the rear member 11B, and on the lower surfaces 11B2U at both ends in the Y direction of the lower cylindrical portion of the rear member 11B, one by one. Note that the number and position of the motors 11M to be provided are not particularly limited.

[0043] (Upper Frame) As shown in FIGS. 1 and 3, the upper frame 12 is for protecting the safety of the passengers in the passenger seat 20 and is arranged above the chair 21. The upper frame 12 includes a front upper frame portion 12F provided in front of the chair 21, a rear upper frame portion 12B provided behind the chair 2, a left upper frame portion 12L provided on the left side of the passenger seat 20, and a right upper frame portion 12R provided on the right side of the chair 21.

[0044] The front upper frame portion 12F and the rear upper frame portion 12B each extend in the Y direction. The left upper frame portion 12L extends so as to connect from the left end of the front upper frame portion 12F to the left end of the rear upper frame portion 12B. The right upper frame portion 12R extends so as to connect from the right end of the front upper frame portion 12F to the right end of the rear upper frame portion 12B.

[0045] (Upper Support Structure) The upper support structure 13 includes a front support structure 13F provided in front of the chair 21, a rear support structure 13B provided behind the chair 21, a left support structure 13L provided on the left side of the chair 21, and a right support structure 13R provided on the right side of the chair 21.

[0046] The front support structure 13F is for supporting the front upper frame section 12F and extends from the front reinforcing member 11J (for example, the front reinforcing vertical bar 11J2) to the center of the front upper frame section 12F in the Y direction. The rear support structure 13B is for supporting the rear upper frame section 12B and extends from the rear reinforcing member 11K (for example, the rear reinforcing vertical bar 11K2) to the center of the rear upper frame section 12B in the Y direction. The left support structure 13L is for supporting the left upper frame section 12L and extends from the middle of the left member 11L to the middle of the left upper frame section 12L. The right support structure 13R is for supporting the right upper frame section 12L and extends from the middle of the right member 11R to the middle of the right upper frame section 12R.

[0047] (Landing gear structure) As shown in Figures 1, 4 and 8, the landing gear structure 14 is located below the seat 21 and comprises a left leg portion 14L located on the left side of the seat 21, a right leg portion 14R located on the right side of the seat 21, a front leg connecting lateral member 14F located in front of the seat 21, a rear leg connecting lateral member 14B located behind the seat 21, a leg connecting lateral member 14H connecting the front leg connecting lateral member 14F and the rear leg connecting lateral member 14B, and a seat support rod member 14K connected to the leg connecting lateral member 14H.

[0048] The left foot portion 14L and the right foot portion 14R are arranged in the Y direction with a predetermined interval therebetween and each extends in the X direction. The front leg connecting cross member 14F extends in the Y direction and connects the front portion of the left foot portion 14L and the front portion of the right foot portion 14R. The rear leg connecting cross member 14B extends in the Y direction and connects the rear portion of the left foot portion 14L and the rear portion of the right foot portion 14R. Two leg connecting cross members 14H are provided in the Y direction with a predetermined interval therebetween. The leg connecting cross members 14H each extend in the X direction. Preferably, one leg connecting cross member 14H is provided on each of the left and right sides of the chair 21. The chair support bar member 14K is for supporting the chair 21 and is disposed below the chair 21. The chair support bar member 14K extends in the Y direction, and preferably two are provided with a predetermined interval in the X direction. The left end portion of each chair support bar member 14K is connected to the left leg connecting cross member 14H, respectively, and the right end portion of each chair support bar member 14K is connected to the right leg connecting cross member 14H, respectively.

[0049] The landing leg support structure 15 is a rod-shaped member extending in the Z direction and is provided in two on each of the front leg connecting cross member 14F and the rear leg connecting cross member 14B. Here, preferably, the landing leg support structure 15 is disposed on both the left and right sides of the chair 21 in the Y direction. One landing leg support structure 15 is provided on each of the left and right sides of the front leg connecting cross member 14F. One landing leg support structure 15 is provided on each of the left and right sides of the rear leg connecting cross member 14B. The landing leg support structures 15 provided on the left side of the front leg connecting cross member 14F and the left side of the rear leg connecting cross member 14B are respectively connected to the middle portion of the left member 11L via joints 11G. Similarly, the landing leg support structures 15 provided on the right side of the front leg connecting cross member 14F and the right side of the rear leg connecting cross member 14B are respectively connected to the middle portion of the right member 11R via joints 11G.

[0050] The forming materials of the upper cylindrical portion, the lower cylindrical portion, and each member constituting the reference frame 11, and each member constituting the rotorcraft frame unit 10, etc. are preferably metals (for example, light metals such as aluminum), fiber reinforced resins, etc.

[0051] (Passenger seat) As shown in Figures 1 and 9, the passenger seat 20 comprises a chair 21 located above the landing gear structure 14 and a platform 22 positioned below the chair 21.

[0052] (Chair) As shown in Figure 5, the chair 21 is provided in the space 11X enclosed by the front member 11F, the rear member 11B, the left member 11L, and the right member 11R. The material used to form the chair 21 is preferably metal (for example, a light metal such as aluminum), plastic, fiber-reinforced resin, etc. As shown in Figure 9, the chair 21 comprises a seat 21Z, a backrest 21S that is provided to stand upright from the rear end of the seat 21Z, and a protruding member 21T.

[0053] The seat surface of the seat portion 21Z is preferably angled downward in the Z direction from the front end to the rear end. The backrest portion 21S is preferably angled upward in the Z direction from the front end to the rear end. This makes it possible to ensure the safety of the passenger seat 20 and smooth boarding and alighting operations in the passenger seat 20 while keeping the height of the rotorcraft 2 down. As shown in Figures 8-9, the protruding member 21T supports the seat portion 21Z from below and is provided to protrude upward from the chair support rod member 14K. The protruding member 21T is preferably provided on the front chair support rod member 14K of the two chair support rod members 14K. The backrest portion 21S is preferably close to the rear reinforcing crossbar 11K1. This makes it possible for the rear reinforcing crossbar 11K1 to support the backrest portion 21S from the rear when the backrest portion 21S undergoes elastic deformation.

[0054] The front member 11F, rear member 11B, left member 11L, and right member 11R are preferably positioned in the Z direction between the upper end of the chair 21 (particularly the upper end of the backrest 21S) and the lower end of the chair 21 (particularly the upper end of the backrest 21S). The front member 11F, rear member 11B, left member 11L, and right member 11R improve the protective effect on the occupant sitting in the chair 21.

[0055] (Base) As shown in Figures 9 and 10, the mounting base 22 comprises a base body 22A positioned below the chair 21, a leg rest plate 22B provided on the base body 22A, four vertical support rods 22C extending upward in the Z direction from the base body 22A, a leg rest vertical rod 22D extending upward in the Z direction from the leg rest plate 22B, an opening / closing device 22E provided on the vertical support rods 22C, an opening / closing device locking member 22F, and leg guard members 22G extending left and right from the leg rest vertical rods 22D.

[0056] The base body 22A is formed in the shape of a plate or frame and is arranged to be horizontal. Preferably, the front end 22AF of the base body 22A substantially coincides with the front end of the chair 21 in the X direction. Preferably, the footrest plate 22B comprises a horizontal footrest portion 22BH extending horizontally from the front end of the base body 22A and an inclined footrest portion 22BS extending diagonally upward from the front end of the horizontal footrest portion 22BH. Preferably, the base body 22A and the footrest plate 22B are integrated.

[0057] As shown in Figure 4, of the four vertical support rods 22C, two are located at the front ends 22AF of the base body 22A, with one on each side of the chair 21. The upper ends of these two vertical support rods 22C are connected to the front leg connecting lateral members 14F via joints 11G. The remaining two of the four vertical support rods 22C are located at the rear of the base body 22A, with one on each side of the chair 21. The upper ends of these two vertical support rods 22C are connected to the rear leg connecting lateral members 14B via joints 11G.

[0058] The lower end of the vertical leg rest 22D is preferably provided on, for example, the inclined foot rest portion 22BS. The upper end 22DT of the vertical leg rest 22D is connected to the reference frame 11 (for example, the front reinforcing vertical bar 11J2) via a joint (Figures 4 and 5).

[0059] As shown in Figures 9 and 10, the opening / closing mechanisms 22E are provided to extend in the Y direction and are positioned on the left and right sides of the chair 21. The front end of the left opening / closing mechanism 22E is connected via a hinge (not shown) to the left front vertical support rod 22C, one of the four vertical support rods 22C provided, and the rear end of the left opening / closing mechanism 22E is connected via a hinge (not shown) to the left rear vertical support rod 22C. The front end of the right opening / closing mechanism 22E is connected via a hinge (not shown) to the right front vertical support rod 22C, one of the four vertical support rods 22C provided, and the rear end of the right opening / closing mechanism 22E is connected via a hinge (not shown) to the right rear vertical support rod 22C. These hinges allow the opening / closing mechanisms 22E to rotate around the X direction. This rotational operation allows the opening / closing device 22E to switch between an open state and a closed state for the opening of the storage space 22X formed between the base body 22A and the leg connecting horizontal member 14H. For example, in the open state, the opening / closing device 22E has its rotation base end and rotation tip oriented horizontally (Figure 9), while in the closed state, the rotation tip of the opening / closing device 22E is positioned vertically above the rotation base end.

[0060] The opening / closing mechanism locking member 22F restricts the switching of the opening / closing mechanism 22E from the closed state to the open state. For example, as shown in Figure 9, the base end of the opening / closing mechanism locking member 22F is provided on the leg connecting horizontal member 14H. On the other hand, the tip of the opening / closing mechanism locking member 22F can be fastened to the opening / closing mechanism 22E. When the tip of the opening / closing mechanism locking member 22F is fastened to the opening / closing mechanism 22E, the switching of the opening / closing mechanism 22E from the closed state to the open state is restricted. This prevents the load placed in the storage space 22X from falling. Furthermore, it is preferable that the opening / closing mechanism 22E is positioned above the base body 22A in both the open and closed states. This allows the opening / closing mechanism 22E to cross the opening of the storage space 22X even when it is in the open state, and allows the load to be loaded and unloaded from the opening of the storage space 22X above the opening / closing mechanism 22E. As a result, the items loaded into the storage space 22X are less likely to fall off the main body 22A of the platform.

[0061] As shown in Figures 9 and 10, the leg guard member 22G is positioned in front of the chair 21 and preferably above the leg rest plate 22B. The leg guard member 22G comprises a member extending to the left from the leg rest vertical rod 22D and a member extending to the right from the leg rest vertical rod 22D. The former is preferably provided to extend horizontally at a predetermined interval in the Z direction. The upper of the former is preferably connected to the reference frame 11 (for example, the lower surface of the lower cylindrical portion of the left member 11L) via a joint (Figure 5). The lower of the former is preferably connected to the landing gear structure 14 (for example, the forward leg connecting lateral member 14F) via a joint (Figure 4). The latter is preferably provided to extend horizontally at a predetermined interval in the Z direction. The upper of the latter is preferably connected to the reference frame 11 (for example, the lower surface of the lower cylindrical portion of the right member 11R) via a joint (Figure 5). The latter, the one located lower down, is preferably connected to the landing gear structure 14 (for example, the forward landing gear connecting lateral member 14F) (Figure 4). The landing gear guard member 22G prevents the legs (especially the shins) of the passenger sitting in the seat 21 from entering the rotational trajectory of the rotor 11T.

[0062] (Operation Panel) As shown in Figure 2, the operation panel 30 is located in front of the chair 21 and is attached to the upper frame 12 or the upper support structure 13. The operation panel 30 is electrically connected to the control device 80 via predetermined wiring and includes a power button for switching the power ON and OFF for the rotorcraft 2, an operation lever for inputting hovering, movement, etc. of the rotorcraft 2, a display device for showing the status of the rotorcraft 2, and other buttons and levers. When the control device 80 detects the operation of various buttons and levers attached to the operation panel 30, it supplies power from the battery device 40 to predetermined components and devices such as the motor 11M based on the operation.

[0063] (Control device) The control device 80 electrically connects each device and component installed on the rotary-wing aircraft 2. As shown in Figure 11, the control device 80 includes a flight controller 81, cameras / sensors 82, a gimbal 83, and an ESC 84.

[0064] The flight controller 81 comprises one or more processors, such as programmable processors (e.g., central processing unit (CPU)), and memory (not shown) accessible by the CPU. The memory stores logic, code, and / or program instructions that the flight controller 81 can execute to perform one or more steps. The memory may include, for example, a separable medium such as an SD card or random access memory (RAM), or an external storage device. Data acquired from the cameras / sensors 82 may be transmitted directly to and stored in the memory.

[0065] The flight controller 81 includes a control module configured to control the state of the aircraft. For example, the control module controls the aircraft's propulsion mechanism (motor 11M, etc.) via an ESC (Electric Speed ​​Controller) 84 to adjust the spatial position, velocity, and / or acceleration of the aircraft, which has six degrees of freedom (translational motion x, y, and z, and rotational motion θx, θy, and θz). The control module can control one or more of the states of the onboard components and sensors.

[0066] The camera / sensor array 82 includes inertial sensors (accelerometers, gyroscopes), GPS sensors, proximity sensors (e.g., LiDAR), or vision / image sensors (e.g., cameras).

[0067] When the flight controller 81 detects signals transmitted from the control panel 30, cameras / sensors 82, or gimbal 83, it performs predetermined calculations based on those signals, controls the motor 11M via the ESC 84, or outputs predetermined information to the display device of the control panel 30.

[0068] Next, we will explain how to use the rotary-wing aircraft 2.

[0069] When the motor 11M is driven under the control of the flight controller 81 by operating the control panel 30, the rotor 11T provided on the reference frame 11 rotates in a predetermined direction at a rotational speed.

[0070] For example, when the rotary-wing aircraft 2 attempts to hover, the flight controller 81 detects signals from the cameras / sensors 82 and the gimbal 83 and individually drives each motor 11M to create conditions that enable hovering. At this time, for example, in the front member 11F, lift is generated at the position where the rotor 11T is installed, that is, at the left end of the front member 11F in the Y direction (first position) and at the right end of the front member 11F in the Y direction (second position). Consequently, upward forces are generated at both ends of the front member 11F, causing the central part of the front member 11F to bend due to the weight of the parts connected to the front member 11F and the weight of the front member 11F itself.

[0071] The bending of the central part of the front member 11F changes the thrust vector of the rotors 11T attached to both ends of the front member 11F. Also, the bending of the central part of the front member 11F changes the signals detected by the cameras / sensors 82 and the gimbal 83. Due to these factors, the flight controller 81 sends a new control signal to the rotors 11T in order to counteract the changes induced by the bending of the central part of the front member 11F in order to bring the attitude of the rotary-wing aircraft 2 to an ideal state. As a result, lift is generated at both ends of the front member 11F based on the new control signal, and the central part of the front member 11F bends. However, even if this is repeated, it becomes difficult to reduce the "deviation in the attitude of the rotary-wing aircraft 2 from the ideal state" induced by the bending of the front member 11F.

[0072] The deflection caused by the operation of the rotor 11T described above can occur not only in the central part of the front member 11F, but also in the central part of the rear member 11B. Furthermore, it can also occur in the left member 11L and the right member 11R connected to the front member 11F and the rear member 11B. In addition, the deflection caused by the operation of the rotor 11T is not limited to when the rotorcraft 2 is attempting to hover, but also occurs when it is moving in a predetermined direction.

[0073] In the rotorcraft 2, the reference frame 11, that is, the front member 11F and the rear member 11B, each have an upper cylindrical portion and a lower cylindrical portion connected so as to be parallel to each other, thereby reducing deflection caused by the operation of the rotor 11T. Similarly, in the rotorcraft 2, the left member 11L and the right member 11R each have an upper cylindrical portion and a lower cylindrical portion connected so as to be parallel to each other, thereby reducing deflection caused by the operation of the rotor 11T.

[0074] In the above embodiment, the first position was set as the left end where the rotor 11T is installed and the second position as the right end where the rotor 11T is installed in the upper cylindrical portion (first frame portion) and lower cylindrical portion (second frame portion) of the front member 11F and the rear member 11B, respectively. However, the present invention is not limited to this, and the first position may be set as the position where the rotor 11T is installed and the second position as the position where the rotor 11T is installed.

[0075] In the above embodiment, the connecting structure in the front member 11F, rear member 11B, left member 11L, right member 11R, etc., extends from the left end to the right end of the upper cylindrical portion (Figure 12(A)), but the present invention is not limited thereto. For example, the connecting structure may be provided from the left end to the right end of the upper cylindrical portion with a predetermined interval CL5 (Figure 12(B)).

[0076] In the above embodiment, the front member 11F, rear member 11B, left member 11L, right member 11R, etc., the connecting structure connects the upper cylindrical portion (first frame portion) and the lower cylindrical portion (second frame portion) with a single connecting structure, but the present invention is not limited to this. For example, as shown in Figure 13, the front member 11F may include an upper cylindrical portion 11F1, a lower cylindrical portion 11F2, a first connecting structure 11F51 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2, and a second connecting structure 11F52 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. The first connecting structure 11F51 and the second connecting structure 11F52 are formed in a plate shape and are arranged along the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. Furthermore, the first connecting structure 11F51 and the second connecting structure 11F52 extend from the left end to the right end of the upper cylindrical portion 11F1. The thickness direction of the connecting structure 11F5 is the X direction. When the line connecting the central axis AX1 of the upper cylindrical portion 11F1 and the central axis AX2 of the lower cylindrical portion 11F2 is defined as the reference line SL, it is preferable that the reference line SL passes between the first connecting structure 11F51 and the second connecting structure 11F52.

[0077] In the above embodiment, the front member 11F etc. is provided with a connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2, but the present invention is not limited thereto, and the connecting structure 11F5 may be omitted. For example, as shown in Figure 14(A), the front member 11F includes an upper cylindrical portion 11F1 extending in the X direction, and a lower cylindrical portion 11F2 positioned below the upper cylindrical portion 11F1 in the Z direction, along the upper cylindrical portion 11F1. The lower surface 11F1U of the upper cylindrical portion 11F1 may be directly fixed to the upper surface 11F2T of the lower cylindrical portion 11F2 by welding or the like, or the upper cylindrical portion 11F1 and the upper cylindrical portion 11F1 may be integrated. Similarly, as shown in Figure 14(B), the front member 11F may comprise an upper cylindrical portion 11F1 extending in the X direction and a cylindrical shape, and a lower rectangular cylindrical portion 11F2 directly fixed to the upper cylindrical portion 11F1, or it may comprise an upper cylindrical portion 11F1 extending in the X direction and a cylindrical shape, and a lower rectangular cylindrical portion 11F2 integrated with the upper cylindrical portion 11F1. Here, the lower rectangular cylindrical portion 11F2 is formed in a rectangular cylindrical shape and extends in the X direction. Furthermore, the lower rectangular cylindrical portion 11F2 is positioned below the upper cylindrical portion 11F1 in the Z direction, along the upper cylindrical portion 11F1.

[0078] In the above embodiment, the members constituting the reference frame 11, such as the front member 11F, rear member 11B, left member 11L, and right member 11R, are provided with an upper cylindrical portion (first frame portion), a lower cylindrical portion (second frame portion), and a connecting structure. However, the present invention is not limited thereto, and instead of the upper cylindrical portion, an elliptical or rectangular upper cylindrical portion may be used as the first frame portion, and instead of the lower cylindrical portion, an elliptical or rectangular lower cylindrical portion may be used as the first frame portion. Here, the rectangular cylindrical shape can be any polygonal cylindrical shape such as a triangular, square, or hexagonal cylindrical shape. For example, the front member 11F shown in Figure 15(A) comprises a rectangular upper cylindrical portion 11F1, a rectangular lower cylindrical portion 11F2, and a connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. Furthermore, in the front member 11F shown in Figure 15(A), the connecting structure 11F5 may be omitted, and the front member 11F may be made by directly welding a cylindrical upper cylindrical portion 11F1 and a rectangular cylindrical lower cylindrical portion 11F2 (Figure 15(B)). Moreover, as shown in Figure 15(C), the connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 may be a front member 11F comprising a first connecting structure 11F51 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2, and a second connecting structure 11F52 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2.

[0079] In the above embodiment, it was preferred that the distance CL1 between the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 be smaller than the diameter D1 of the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2, but the present invention is not limited thereto. If the upper cylindrical portion or the lower cylindrical portion is not cylindrical, such as a rectangular prism, it is preferred that the distance between the upper rectangular tube portion and the lower rectangular tube portion be smaller than the outer dimensions of the upper rectangular tube portion 11F1 and the lower rectangular tube portion 11F2.

[0080] In the above embodiment, the connecting structure 11F5 is formed in the shape of a plate, but the present invention is not limited to this, and it may be in a different shape, such as a rod, as long as it connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2.

[0081] In the above embodiment, the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 are arranged vertically, but the present invention is not limited to this, and the upper cylindrical portion 11F1 may be arranged diagonally upward as long as it is positioned higher than the lower cylindrical portion 11F2 (Figure 16(A)). In order to prevent horizontal deflection and vibration of the front member 11F, etc., the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 may be arranged horizontally (Figure 16(B)). Furthermore, by providing the side reinforcing member 11H with an upper cylindrical portion and a lower cylindrical portion positioned below the upper cylindrical portion in the Z direction, similar to the structure of the left member 11L, etc., it is possible to suppress horizontal deflection and vibration of the front member 11F, etc. Moreover, it is preferable that the side reinforcing member 11H includes a connecting structure that connects the upper cylindrical portion and the lower cylindrical portion.

[0082] In the above embodiment, the first frame portion and the second frame portion were cylindrical bodies (hollow rod members) such as an upper cylindrical portion and an upper rectangular cylindrical portion, but the present invention is not limited to these, and may also be solid rod members.

[0083] In the above embodiment of the reference frame 11, rotors 11T are provided at both ends of the front member 11F and the rear member 11B, but the present invention is not limited thereto. For example, in the reference frame 11 shown in Figure 17(A), the left end of the front member 11F is connected via a joint to the middle part of the left member 11L (for example, the middle part in front of the chair 21), and the right end of the front member 11F is connected via a joint to the middle part of the right member 11R (for example, the middle part in front of the chair 21). On the other hand, the left end of the rear member 11B is connected via a joint to the middle part of the left member 11L (for example, the middle part behind the chair 21), and the right end of the rear member 11B is connected via a joint to the middle part of the right member 11R (for example, the middle part behind the chair 21). Rotors 11T may also be provided at the front and rear ends of the left member 11L and the right member 11R, respectively. Furthermore, as shown in Figure 17(B), the left end of the front member 11F is connected to the front end of the left member 11L via a joint, and the right end of the front member 11F is connected to the front end of the right member 11R via a joint. On the other hand, the left end of the rear member 11B is connected to the rear end of the left member 11L via a joint, and the right end of the rear member 11B is connected to the rear end of the right member 11R via a joint. Rotors 11T may also be provided at the front and rear ends of the left member 11L and the right member 11R, respectively.

[0084] As shown in Figure 18(A), instead of the front member 11F, rear member 11B, left member 11L, and right member 11R, first rod-shaped members 11A1 to fourth rod-shaped members 11A4 having a structure similar to that of the front member 11F, etc., may be used. The first rod-shaped members 11A1 to fourth rod-shaped members 11A4 are arranged radially around the chair 21. The arrangement pitch of the first rod-shaped members 11A1 to fourth rod-shaped members 11A4 is 90 degrees. The base ends of the first rod-shaped members 11A1 to fourth rod-shaped members 11A4 are connected to each other. Rotors 11T may be provided at the tips of the first rod-shaped members 11A1 to fourth rod-shaped members 11A4. Furthermore, as shown in Figure 18(B), the base ends of the first rod-shaped member 11A1 to the second rod-shaped member 11A2 are connected, and the base ends of the third rod-shaped member 11A3 to the fourth rod-shaped member 11A4 are also connected. In addition, a fifth rod-shaped member 11A5 having a structure similar to that of the previous member 11F, etc., may connect the base ends of the first rod-shaped member 11A1 to the second rod-shaped member 11A2 and the base ends of the third rod-shaped member 11A3 to the fourth rod-shaped member 11A4.

[0085] In the above embodiment, the chair 21 is supported by the chair support rod member 14K, but the present invention is not limited thereto, and the chair 21 may also be supported by the landing gear structure 14 other than the reference frame 11 and the chair support rod member 14K (for example, the front landing gear connecting transverse member 14F, the rear landing gear connecting transverse member 14B, and the landing gear connecting transverse member 14, etc.) or the landing gear support structure 15.

[0086] Although the rotorcraft 2 in the above embodiment was equipped with a passenger seat 20, the present invention is not limited thereto. Instead of the passenger seat 20, a platform on which luggage or other items can be placed may be provided.

[0087] In the above embodiment, the rotary-wing aircraft 2 was controlled under the control of the flight controller 81 by operating an operation panel 30 which is electrically connected to the control device 80 via predetermined wiring. However, the present invention is not limited to this. For example, the rotary-wing aircraft 2 may be controlled under the control of the flight controller 81 by operating a remote control or the like which is connected via wireless communication.

[0088] It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention.

[0089] 2 Rotary-wing aircraft 10 Rotary-wing aircraft frame unit 11 Reference frame 11B Rear member 11F Front member 11F1 Upper cylindrical section 11F2 Lower cylindrical section 11F2U Lower surface 11F5 Connecting structure 11G Joint 11H Side reinforcing member 11J Front reinforcing member 11K Rear reinforcing member 11L Left member 11L1 Upper cylindrical section 11L2 Lower cylindrical section 11L5 Connecting structure 11M Motor 11R Right member 11T Rotor 12 Upper frame 13 Upper support structure 14 Landing gear structure 15 Landing gear support structure 20 Seat 21 Chair 21S Backrest 21T Protruding member 21Z Seat 22 Mounting platform 30 Control panel 40 Battery unit 80 Control device

Claims

1. A frame unit for a rotary-wing aircraft, comprising a frame having a first position on which a first rotor is provided and a second position on which a second rotor is provided, wherein, when the portion of the frame from the first position to the second position is defined as the frame portion, the frame portion comprises a first frame portion extending from the first position toward the second position and a second frame portion arranged along the first frame portion, and the first frame portion and the second frame portion are directly or indirectly connected.

2. The frame unit for a rotary-wing aircraft according to claim 1, characterized in that the first frame portion and the second frame portion are cylindrical bodies.

3. The frame unit for a rotary-wing aircraft according to claim 1 or 2, characterized in that the first frame portion is located at a higher position than the second frame portion.

4. The frame unit for a rotary-wing aircraft according to claim 1 or 2, characterized in that the first frame portion and the second frame portion are arranged in a vertical direction.

5. The frame unit for a rotary-wing aircraft according to claim 3, characterized in that the first frame portion and the second frame portion are directly connected.

6. The frame unit for a rotary-wing aircraft according to claim 3, further comprising a connecting structure located between the first frame portion and the second frame portion, and connecting the first frame portion and the second frame portion.

7. The frame unit for a rotary-wing aircraft according to claim 6, characterized in that the distance between the first frame portion and the second frame portion is smaller than the external dimensions of either the first frame portion or the second frame portion.

8. The frame unit for a rotary-wing aircraft according to claim 6, characterized in that the first frame portion and the second frame portion are formed in a cylindrical or columnar shape, and the distance between the first frame portion and the second frame portion is smaller than the diameter of either the first frame portion or the second frame portion.

9. The frame unit for a rotary-wing aircraft according to claim 8, wherein the connecting structure comprises a first connecting structure and a second connecting structure, and the line connecting the center of the first frame portion and the center of the second frame portion passes between the first connecting structure and the second connecting structure.

10. The frame unit for a rotary-wing aircraft according to claim 6, characterized in that the connecting structure comprises a first connecting structure and a second connecting structure.

11. The frame unit for a rotary-wing aircraft according to claim 6, characterized in that the connecting structure is connected along the frame portion from the first position to the second position.

12. The frame unit for a rotary-wing aircraft according to claim 6, characterized in that the connecting structures are arranged at intervals along the frame portion from the first position to the second position.

13. A frame unit for a rotary-wing aircraft according to claim 1 or 2, further comprising a passenger seat or a mounting platform, wherein the frame comprises a first rotor-side member including a first frame portion, a second rotor-side member including a second first frame portion, a first mating member having one side connected to the first rotor-side member and the other side connected to the second rotor-side member, and a second mating member having one side connected to the first rotor-side member and the other side connected to the second rotor-side member, wherein the passenger seat or the mounting platform described above is disposed between the first mating member and the second mating member, and the first mating member and the second mating member cross the passenger seat or the mounting platform described above.

14. A rotary-wing aircraft characterized by comprising the frame unit for a rotary-wing aircraft according to claim 1 or 2.

Images