Rotorcraft frame unit, rotorcraft using same, calibration method for rotorcraft, and modification method for rotorcraft frame unit

Abstract

Provided are a compact rotorcraft frame unit, and a rotary wing using the same. A rotorcraft 2 comprises a rotorcraft frame unit 10 and a boarding seat 20. The rotorcraft frame unit 10 comprises a reference frame 11, an upper frame 12, and an upper support structure 13 that supports the upper frame 12. The main frame 11 includes: a front frame member 11F disposed in front of the boarding seat 20; a rear frame member 11B disposed behind the boarding seat 20; a left frame member 11L disposed on the left side of the boarding seat 20; a right frame member 11R disposed on the right side of the boarding seat 20; and eight rotors 11T provided on the front frame member 11F and the rear frame member 11B. In plan view from the Z direction, the reference frame 11 and the upper frame 12 overlap rotation trajectories 11TR of the rotors 11T.

Description

Frame Unit for Rotary Wing Aircraft, Rotary Wing Aircraft Using the Same, Calibration Method for Rotary Wing Aircraft, and Modification Method for Frame Unit for Rotary Wing Aircraft ,

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[0006] ,

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[0001] The present invention relates to a frame unit for a rotary wing aircraft, a rotary wing aircraft using the same, a calibration method for a rotary wing aircraft, and a modification method for a frame unit for a rotary wing aircraft.

[0002] In recent years, the use of services using flying objects such as drones and unmanned aerial vehicles (UAVs) used for various purposes (hereinafter simply referred to as "flying objects") 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 operational efficiency is required.

[0003] As such a flying object, for example, Patent Document 1 discloses an unmanned flying object. Further, 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, Japanese Patent Application Laid-Open No. 2019-123420, Japanese Patent Application Laid-Open No. 2024-6288

[0005] One of the important elements for a rotary wing aircraft is appropriately controlling the output of rotors and the like so that the attitude of the rotary wing aircraft during flight is stabilized. However, the attitude of the rotary wing aircraft involves complex interrelationships among the center-of-gravity design of the rotary wing aircraft, the layout design of the rotors, and the output control of the rotors based on these, so the control is complex. For example, even if the accuracy of the hardware design such as the center of gravity and the layout of the rotors of the rotary wing aircraft does not reach a predetermined level, it is also possible to stabilize the final flight attitude by subsequent software control (such as rotor output control). However, since software control also has limitations, a method that depends on software control for stabilizing the flight attitude may not be preferable in some cases.

[0006] Therefore, this disclosure has been made in view of the above-mentioned problems, and aims to provide a frame unit for a rotary-wing aircraft that facilitates attitude stabilization of the rotary-wing aircraft, a rotary-wing aircraft using the same, a calibration method for a rotary-wing aircraft, and a method for modifying the frame unit for a rotary-wing aircraft.

[0007] The present invention relates to a frame unit for a rotary-wing aircraft, comprising a frame member, a separate component provided on the frame member, and a separate component connecting structure for connecting the separate component to the frame member, wherein the separate component connecting structure is connected to the frame member such that the separate component is movable along the frame member.

[0008] The separate component connecting structure is switchable between a separate component engaged state in which the separate component engages with the frame member, a separate component locked state in which the separate component is locked to the frame member, and a separate component separated state in which the separate component is separated from the frame member. Preferably, when the separate component engaged state, the separate component can move along the frame member, and when the separate component locked state, the movement of the separate component along the frame member is restricted. Furthermore, the separate component connecting structure comprises a frame engagement / disengagement portion that can engage with and disengage from the frame member, and a separate component engagement / disengagement portion that can engage with and disengage from the separate component, and preferably the frame engagement / disengagement portion and the separate component engagement / disengagement portion are connected.

[0009] The aforementioned separate component is preferably at least one of the following: another frame member, a rotor, a battery, a flight controller, a seat, and an operation panel.

[0010] The frame member extends in a first direction, and the other component is another frame member extending in a second direction different from the first direction. The other component connecting structure comprises an end engagement / disengagement portion that can engage with and disengage from the end of the frame member, and an intermediate engagement / disengagement portion that can engage with and disengage from an intermediate portion of the other frame member, wherein the end engagement / disengagement portion and the intermediate engagement / disengagement portion are preferably connected. Furthermore, the intermediate engagement / disengagement portion has a rail fitting structure that can be fitted to an engagement rail provided on the other frame member, and comprises a first intermediate engagement / disengagement portion with a first rail fitting portion formed thereon, a second intermediate engagement / disengagement portion with a second rail fitting portion formed thereon, and a rail engagement / disengagement connector for connecting the first intermediate engagement / disengagement portion and the second intermediate engagement / disengagement portion, wherein when the first intermediate engagement / disengagement portion and the second intermediate engagement / disengagement portion are connected by the rail engagement / disengagement connector, the rail fitting structure is formed by the first rail fitting portion and the second rail fitting portion. Moreover, the intermediate engagement / disengagement portion is switchable between a rail engagement state in which the frame member engages with the engagement rail, a rail lock state in which the frame member is locked to the engagement rail, and a rail separation state in which the frame member is separated from the engagement rail, wherein when in the rail engagement state, the frame member is movable along the engagement rail.

[0011] The end engagement portion has an end insertion hole into which the end of the frame member can be inserted, and comprises a first end engagement portion with a first hole, a second end engagement portion with a second hole, and an end engagement connecting bolt for connecting the first end engagement portion and the second end engagement portion, wherein the end insertion hole is formed by the first hole and the second hole when the first end engagement portion and the second end engagement portion are connected by the end engagement connecting bolt.

[0012] The end engagement / disengagement portion preferably comprises a first inner wall pressing portion capable of pressing against the inner wall of a hole or bore formed at the end of the frame member, a second inner wall pressing portion capable of pressing against the inner wall of the hole or bore, and a switching portion, wherein the switching portion allows the first inner wall pressing portion and the second inner wall pressing portion to switch between a pressing state in which they press against the inner wall of the hole or bore, and a retracted pressing state in which they are retracted from the pressing state.

[0013] The engaging rail is preferably a convex rail that protrudes from the side surface of the other frame member, or a concave rail that is recessed from the side surface of the other frame member.

[0014] The present invention relates to a calibration method for a rotary-wing aircraft comprising: a first frame member; a second frame member; a rotor provided on at least one of the first frame member or the second frame member; a rotor control unit for controlling the rotor; and a frame connection structure for connecting the first frame member and the second frame member, characterized in that the calibration method comprises: a first assembly step of connecting the first frame member and the second frame member using the frame connection structure; a first calibration step performed after the first assembly step, in which the control conditions in the rotor control unit are set to a first control condition so that the attitude of the rotary-wing aircraft when it is airborne becomes a target value; a disassembly step of unconnecting the first frame member and the second frame member; a second assembly step of connecting the first frame member and a third frame using the frame connection structure; and a second calibration step performed after the second assembly step, in which the control conditions in the rotor control unit are set to a second control condition so that the attitude of the rotary-wing aircraft when it is airborne becomes a target value.

[0015] The present invention relates to a method for modifying a frame unit for a rotary-wing aircraft, comprising: a first frame member extending in a first direction; a second frame member extending in a second direction different from the first direction; an engagement rail extending in the second direction on the side surface of the second frame member; a rotor provided on at least one of the first frame member or the second frame member; and a frame connecting structure connecting the first frame member and the second frame member, characterized in that the method comprises: an engagement step of engaging the frame connecting structure with the engagement rail so that the first frame member can move along the second frame member; a positioning step of moving the first frame member along the second frame member while the frame connecting structure remains engaged with the engagement rail; and a locking step of locking the frame connecting structure with the engagement rail so that the movement of the first frame member along the second frame member is restricted.

[0016] Preferably, at least one of the first frame member and the second frame member comprises a first rod member and a second rod member arranged along the first rod member, and the first rod member and the second rod member are directly or indirectly connected on the rotation axis of the rotor.

[0017] The present invention relates to a method for modifying a frame unit for a rotary-wing aircraft, comprising: a first frame member extending in a first direction; a second frame member extending in a second direction different from the first direction; a rotor provided on at least one of the first frame member or the second frame member; and a frame connection structure connecting the first frame member and the second frame member, comprising: a disconnection step of disconnecting the connection between the first frame member and the second frame member by the frame connection structure; a connection step of connecting a first high-strength frame member having higher strength than the first frame member and a second high-strength frame member having higher strength than the second frame member using the frame connection structure; and the first high-strength frame member and the second high-strength frame The rotor mounting step comprises attaching the rotor to at least one of the members, wherein at least one of the first high-strength frame member and the second high-strength frame member comprises a first rod member and a second rod member arranged along the first rod member, the second rod member being directly or indirectly connected to the first rod member, the connecting step involves connecting one end of the first rod member to the second frame member using the frame connecting structure, and the rotor mounting step involves attaching the rotor to at least one of the first high-strength frame member and the second high-strength frame member such that the portion where the first rod member and the second rod member are connected lies on the rotation axis of the rotor.

[0018] The rotor is movable along at least one of the first high-strength frame member and the second high-strength frame member, and in the rotor mounting step, it is preferable to move the rotor such that the portion where the first rod member and the second rod member are directly or indirectly connected lies on the rotation axis of the rotor.

[0019] The rotary-wing aircraft frame unit of the present invention comprises a first rod member, a second rod member arranged along the first rod member, and a rotor provided on at least one of the first rod member and the second rod member, characterized in that the portion where the first rod member and the second rod member are directly or indirectly connected lies on the rotation axis of the rotor.

[0020] The rotor comprises a one-sided rotor provided on the first rod member and a other-sided rotor provided on the first rod member, and it is preferable that the portion where the first rod member and the second rod member are directly or indirectly connected lies on the rotation axis of the one-sided rotor and the rotation axis of the other-sided rotor. Furthermore, it is preferable that a connecting structure is provided to connect the first rod member and the second rod member, and that the connecting structure is provided continuously or intermittently from the rotation axis of the one-sided rotor to the rotation axis of the other-sided rotor. In addition, it is preferable that the first rod member and the second rod member are aligned vertically or horizontally. Moreover, it is preferable that the first rod member and the second rod member have a hollow structure or a solid structure.

[0021] The rotor comprises a first rotor provided on the first rod member and a second rotor provided on the second rod member, and it is preferable that the portion where the first rod member and the second rod member are directly or indirectly connected lies on the rotation axis of one rotor and the rotation axis of the other rotor. It is also preferable that the rotation axis of the first rotor and the rotation axis of the second rotor are on the same straight line. Furthermore, the rotor further comprises a connecting structure that connects the first rod member and the second rod member, and it is preferable that the connecting structure is provided continuously or intermittently from the rotation axis of the first rotor to the rotation axis of the second rotor. In addition, it is preferable that the first rod member and the second rod member are aligned vertically or horizontally. Furthermore, it is preferable that the first rod member and the second rod member have a hollow structure or a solid structure.

[0022] According to the present invention, it is possible to provide a frame unit for a rotary-wing aircraft that facilitates attitude stabilization of the rotary-wing aircraft, a rotary-wing aircraft using the same, a calibration method for a rotary-wing aircraft, and a method for modifying the frame unit for a rotary-wing aircraft.

[0023] 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 reference frame. This is a schematic cross-sectional view taken along the line VIa-VIa' showing the outline of the front member. This is a schematic side view showing the outline of the front member. This is a schematic cross-sectional view taken along the line VIc-VIc' showing the positional relationship between the rotor's rotation axis and the connecting structure. This is a schematic cross-sectional view taken along the line VId-VId' showing the outline of the rear member. This is a schematic side view showing the outline of the rear member. This is a schematic cross-sectional view taken along the line VIf-VIf' showing the positional relationship between the rotor's rotation axis and the connecting structure. This is a schematic cross-sectional view taken along the line VIg-VIg' showing the outline of the left member. This is a schematic cross-sectional view taken along the line VIIa-VIIa' showing the outline of the joint structure in the rail-locked state. This is a schematic perspective view showing the outline of the joint structure. This is a schematic cross-sectional view taken along the line VIIa-VIIa', illustrating the general outline of the joint structure. This is a schematic cross-sectional view taken along the line VIIa-VIIa', illustrating the general outline of the joint structure. This is a schematic cross-sectional view taken along the line VIIa-VIIa', illustrating the general outline of the joint structure in the rail-engaged state. This is a schematic cross-sectional view taken along the line VIIa-VIIa', illustrating the general outline of the joint structure in the rail-separated state. This is a schematic plan view illustrating the general outline of the upper frame. This is a schematic perspective view illustrating the general outline of the landing gear structure. This is a schematic cross-sectional view taken along the line X-X' (a cross-sectional view that appears when cut along a plane including the X and Z directions), illustrating the general outline of the passenger seat. This is a schematic perspective view illustrating the general outline of the base. This is a schematic plan view illustrating the general outline of the lower frame and mounting plate. This is a schematic functional block diagram illustrating the general outline of the rotorcraft. This is a schematic explanatory diagram illustrating the general outline of the rotation direction of each rotor provided on the rotorcraft. This is a schematic perspective view illustrating the general outline of the front member. This is a schematic side view illustrating the general outline of the front member (modified example). This is a schematic cross-sectional view taken along the line XIIIe-XIIIe' showing the outline of the front member (modified version). This is a schematic perspective view showing the outline of the front member (prior art). This is a schematic plan view showing the outline of the reference frame (modified version). This is a schematic left side view showing the outline of the rotor blade machine (modified version). This is a schematic perspective view showing the outline of the upper frame (modified version) and upper support structure (modified version). This is a schematic perspective view showing the outline of the front member (modified version). This is a schematic perspective view showing the outline of the front member (modified version).This is a schematic side view showing the outline of the front member (modified version). This is a schematic cross-sectional view taken along the line XVIId-XVIId' showing the positional relationship between the rotor's rotation axis and the connecting structure. This is a schematic side view showing the outline of the front member (modified version). This is a schematic cross-sectional view taken along the line XVIIf-XVIIf' showing the positional relationship between the rotor's rotation axis and the connecting structure. This is a schematic side view showing the outline of the front member (modified version). This is a schematic cross-sectional view taken along the line XVIIg-XVIIg' showing the positional relationship between the rotor's rotation axis and the connecting structure. This is a cross-sectional view taken along the line III'. This is a schematic cross-sectional view taken along the line VI-VI' showing the outline of the front member (modified version). This is a schematic cross-sectional view taken along the line XVIIIb-XVIIIb' showing the outline of the front member (modified version). This 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). This is a schematic cross-sectional view taken along the line VI-VI' showing an overview of the front member (modified version). This is a schematic cross-sectional view taken along the line VI-VI' showing an overview of the front member (modified version). This is a schematic cross-sectional view taken along the line VI-VI' showing an overview of the front member (modified version). This is a schematic cross-sectional view taken along the line VI-VI' showing an overview of the front member (modified version). This is a flowchart showing an overview of the calibration method. This is a flowchart showing an overview of the modification method for the rotor blade aircraft frame unit. This is a schematic cross-sectional view taken along the line XXIIIa-XXIIIa' showing an overview of the front member (modified version). This is a schematic exploded cross-sectional view taken along the line XXIIIa-XXIIIa' showing an overview of the front member (modified version). This is a schematic perspective view showing an overview of the joint structure (modified version). This is a schematic exploded perspective view showing an overview of the joint structure (modified version). This is a schematic cross-sectional view in the XZ plane showing an overview of the joint structure (modified version). This is a schematic cross-sectional view in the XZ plane showing an overview of the joint structure (modified version) in a rail-locked state. This is a schematic exploded perspective view showing an overview of the joint structure (modified version). This is a schematic perspective view showing the outline of a modified joint structure. This is a schematic exploded perspective view showing the outline of a modified joint structure. This is a schematic exploded perspective view showing the outline of a modified joint structure. This is a schematic plan view showing the outline of a modified standard frame. This is a schematic plan view showing the outline of a modified standard frame. This is a schematic plan view showing the outline of a modified standard frame. This is a schematic plan view showing the outline of a modified standard frame.

[0024] (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.

[0025] 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 (first direction), the left-right direction in the horizontal plane (direction perpendicular to the X direction) is defined as the Y direction (second direction), and the direction perpendicular to the horizontal plane is defined as the Z direction.

[0026] (Rotary-wing aircraft frame unit) As shown in Figures 1 and 2, the rotary-wing aircraft frame unit 10 comprises a reference frame 11, an upper frame 12 positioned above the reference frame 11 in the Z direction, an upper support structure 13 provided on the reference frame 11 to support the upper frame 12, a lower frame 14 positioned below the reference frame 11 in the Z direction, and a lower support structure 15 provided on the reference frame 11 to support the lower frame 14.

[0027] (Reference Frame) As shown in Figures 3 to 5, the reference frame 11 comprises a front frame member 11F (frame member) positioned in front of the seat 21 of the passenger seat 20 (Figure 4; details will be described later), a rear frame member 11B (frame member) positioned behind the seat 21, a left frame member 11L (frame member) positioned to the left of the seat 21, a right frame member 11R (frame member) positioned to the right of the seat 21, eight rotors 11T provided on the front frame member 11F and the rear frame member 11B, eight motors 11M that drive the rotors 11T, and couplings 11G that connect each of the members 11F, 11B, 11L, and 11R.

[0028] The reference frame 11 is preferably symmetrical with respect to the reference plane SF (Figure 5). Here, the reference plane SF is a plane having a normal vector in the X direction and passing through the chair 21. The reference plane SF may also be a plane having a normal vector in the X direction and passing through the center of gravity G10 of the rotorcraft frame unit 10 or the center of gravity of the rotorcraft 2. Here, the center of gravity G10 of the rotorcraft frame unit 10 or the center of gravity of the rotorcraft 2 may be the center of gravity position when passengers and luggage are loaded, or the center of gravity position when passengers and luggage are loaded.

[0029] (Front and Rear Members) As shown in Figure 5, the front frame member 11F and the rear frame 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 frame member 11F and the rear frame member 11B are parallel to each other.

[0030] As shown in Figures 4-5, the front frame member 11F comprises an upper cylindrical portion 11F1 (first rod member) extending in the Y direction, a lower cylindrical portion 11F2 (second rod member) positioned along the upper cylindrical portion 11F1 and below the upper cylindrical portion 11F1 in the Z direction, and a connecting structure 11F5 connecting 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.

[0031] As shown in Figures 6A to 6C, 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.

[0032] 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.

[0033] The connecting structure 11F5 is formed in a plate shape and is positioned between the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2, along them. 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.

[0034] As shown in Figures 6D to 6F, the rear frame member 11B has the same structure as the front frame member 11F, and comprises an upper cylindrical portion (first rod member) extending in the Y direction, a lower cylindrical portion (second rod member) positioned along the upper cylindrical portion and below the upper cylindrical portion in the Z direction, and a connecting structure that connects the upper cylindrical portion and the lower cylindrical portion.

[0035] On the circumferential surface of the upper cylindrical portion 11B1, engagement rails 11FR are formed on the upper surface 11B1T and on the side surfaces 11B1S on both sides in the X direction. Each engagement rail 11FR is provided so as to protrude radially outward from the circumferential surface of the upper cylindrical portion 11B1 and extends in the Y direction. In the circumferential direction of the upper cylindrical portion 11B1, a first engagement groove 11FM1 into which the first claw of the joint 11G can engage is formed at one end of the engagement rail 11FR, and a second engagement groove 11FM2 into which the second claw of the joint 11G can engage is formed at the other end of the engagement rail 11FR.

[0036] On the circumferential surface of the lower cylindrical portion 11F2, engagement rails 11FR are formed on the lower surface 11F2U and on the lateral surfaces 11F2S on both sides in the X direction. Each engagement rail 11FR is provided so as to protrude radially outward from the circumferential surface of the lower cylindrical portion 11F2 and extends in the Y direction. In the circumferential direction of the lower cylindrical portion 11F2, a first engagement groove 11FM1 into which the first claw of the joint 111G can engage is formed at one end of the engagement rail 11FR, and a second engagement groove 11FM2 into which the second claw of the joint 111G can engage is formed at the other end of the engagement rail 11FR.

[0037] The connecting structure 11L5 is formed in a plate shape and is positioned between the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2, along them. 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 X direction. The upper end of the connecting structure 11L5 is fixed to the lower surface 11L1U of the upper cylindrical portion 11L1, and the lower end of the connecting structure 11L5 is fixed 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 T1 of the connecting structure 11L5 is smaller than the diameter D1 of the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2.

[0038] (Left and Right Members) As shown in Figures 4 and 5, the left frame member 11L and the right frame 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 frame member 11L and the right frame member 11R are parallel to each other.

[0039] As shown in Figure 6E, the left frame member 11L comprises an upper cylindrical portion 11L1 (first rod member) extending in the X direction, a lower cylindrical portion 11L2 (second rod member) 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.

[0040] 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.

[0041] The connecting structure 11L5 is formed in a plate shape and is positioned between the upper cylindrical portion 11L1 and the lower cylindrical portion 11L2, along them. 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.

[0042] Preferably, engagement rails 11FR are formed on the upper surface 11L1T and the side surfaces 11L1S on both sides in the X direction of the circumferential surface of the upper cylindrical portion 11L1. Each engagement rail 11FR is provided so as to protrude radially outward from the circumferential surface of the upper cylindrical portion 11L1 and extends in the Y direction. Preferably, a first engagement groove 11FM1 into which the first claw of the joint 11G can engage is formed at one end of the engagement rail 11FR in the circumferential direction of the upper cylindrical portion 11L1, and a second engagement groove 11FM2 into which the second claw of the joint 11G can engage is formed at the other end of the engagement rail 11FR.

[0043] Similarly, on the circumferential surface of the lower cylindrical portion 11L2, engaging rails 11FR are preferably formed on the lower surface 11L2U and the side surfaces 11L2S on both sides in the X direction, respectively. Each engaging rail 11FR is provided so as to project from the circumferential surface of the lower cylindrical portion 11L2 toward the radially outer side of the lower cylindrical portion 11L2 and extends in the Y direction. In the circumferential direction of the lower cylindrical portion 11L2, a first engaging groove 11FM1 into which the first claw of the joint 11G can engage is formed at one end of the engaging rail 11FR, and a second engaging groove 11FM2 into which the second claw of the joint 11G can engage is preferably formed at the other end of the engaging rail 11FR.

[0044] The right frame member 11R has the same structure as the left frame member 11L, and includes an upper cylindrical portion (first rod member) extending in the X direction, a lower cylindrical portion (second rod member) disposed 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. Since the upper cylindrical portion, the lower cylindrical portion, the connecting structure, the engaging rail, etc. are the same as those of the left frame member 11L, detailed description thereof is omitted.

[0045] (Joint) As shown in FIG. 5, the front end of the left frame member 11L and the middle portion of the front frame member 11F (for example, the middle portion to the left of the center in the Y direction) are connected by the first joint 11G. Further, the front end of the right frame member 11R and the middle portion of the front frame member 11F (for example, the middle portion to the right of the center in the Y direction) are connected by the second joint 11G. The rear end of the left frame member 11L and the middle portion of the rear frame member 11B (for example, the middle portion to the left of the center in the Y direction) are connected by the third joint 11G. The rear end of the right frame member 11R and the middle portion of the rear frame member 11B (for example, the middle portion to the right of the center in the Y direction) are connected by the fourth joint 11G. Thereby, the front frame member 11F, the rear frame member 11B, the left frame member 11L, and the right frame member 11R are connected to each other in a state of being arranged so as to surround the chair 21.

[0046] The reference frame 11 further preferably includes diagonal reinforcing members 11H (frame members) arranged on both the left and right sides of the chair 21, a front reinforcing member 11J (frame member) arranged in front of the chair 21, and a rear reinforcing member 11K (frame member) arranged behind the chair 21.

[0047] (Diagonal Reinforcing Member) The first diagonal reinforcing member 11H is connected by a joint 11G to the left end of the front frame member 11F and a midpoint of the left frame member 11L (for example, a midpoint in front of the chair 21). The second diagonal reinforcing member 11H is connected by a joint 11G to the right end of the front frame member 11F and a midpoint of the right frame member 11R (for example, a midpoint in front of the chair 21). The third diagonal reinforcing member 11H is connected by a joint 11G to the left end of the rear frame member 11B and a midpoint of the left frame member 11L (for example, a midpoint behind the chair 21). The fourth diagonal reinforcing member 11H is connected by a joint 11G to the right end of the rear frame member 11B and a midpoint of the right frame member 11R (for example, a midpoint behind the chair 21).

[0048] Each diagonal reinforcing member 11H preferably has the same structure as the left frame member 11L or the like. That is, each diagonal reinforcing member 11H preferably includes an upper cylindrical portion extending from one position to another position, a lower cylindrical portion arranged below the upper cylindrical portion in the Z direction along the upper cylindrical portion, and a connecting structure connecting the upper cylindrical portion and the lower cylindrical portion. The upper cylindrical portion and the lower cylindrical portion of each diagonal reinforcing member 11H are respectively connected to the upper cylindrical portion and the lower cylindrical portion of the counterpart member via the joint 11G. Since the upper cylindrical portion, the lower cylindrical portion, and the connecting structure are also the same as those of the left frame member 11L or the like, detailed description thereof is omitted.

[0049] (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 frame 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 frame 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 frame member 11F (for example, the upper cylindrical part) in the Y direction via a joint 11G.

[0050] (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 frame 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 frame 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 frame member 11F (for example, the upper cylindrical part) in the Y direction via a joint 11G.

[0051] The diagonal reinforcing member 11H, the front reinforcing member 11J, and the rear reinforcing member 11K improve the rigidity of the frame body, which consists of the front frame member 11F, the rear frame member 11B, the left frame member 11L, and the right frame member 11R.

[0052] Furthermore, passengers can get on and off the chair 21 by stepping over or climbing over the left frame member 11L and the right frame member 11R located on either side of the chair 21. In particular, since there are no other members to the left of the left frame member 11L or to the right of the right frame member 11R, passengers who are about to board can approach the chair 21 in the Y direction.

[0053] (Rotor) As shown in Figures 3-4, 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.

[0054] As shown in Figure 6A, in the front frame member 11F, the rotor 11T is attached to both ends in the Y direction of the upper surface 11F1T of the upper cylindrical portion 11F1 via a sliding base 11SD. Similarly, the rotor 11T is attached to both ends in the Y direction of the lower surface 11F2U of the lower cylindrical portion 11F2 via a sliding base 11SD. As shown in Figures 6B to 6C, the rotation axis of the rotor 11T provided in the upper cylindrical portion 11F1 and the rotation axis of the rotor 11T provided in the lower cylindrical portion 11F2 are on the same straight line. If we define the straight line passing through the rotation axis of the rotor 11T as the rotation axis AX1, it is preferable that the rotation axis AX1 passes through the connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. This makes it easier to stabilize the attitude of the rotorcraft 2.

[0055] As shown in Figure 6D, in the rear frame member 11B, the rotor 11T is attached to both ends in the Y direction of the upper surface of the upper cylindrical portion 11B1 via the sliding base 11SD. Similarly, the rotor 11T is attached to both ends in the Y direction of the lower surface of the lower cylindrical portion 11B2 via the sliding base 11SD. As shown in Figures 6E to 6F, the rotation axis of the rotor 11T provided in the upper cylindrical portion 11B1 and the rotation axis of the rotor 11T provided in the lower cylindrical portion 11B2 are on the same straight line. If we define the straight line passing through the rotation axis of the rotor 11T as the rotation axis AX2, it is preferable that the rotation axis AX2 passes through the connecting structure 11B5 that connects the upper cylindrical portion 11B1 and the lower cylindrical portion 11B2. This makes it easier to stabilize the attitude of the rotorcraft 2.

[0056] 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. Furthermore, the number of blades on each rotor 11T is not particularly limited. For example, the rotors 11T may be contra-rotating propellers or the like.

[0057] (Motor) The motor 11M supplies the driving force to rotate the rotor 11T, and obtains energy from the battery device 40 (Figure 1) by the control device 80 (Figure 1). As shown in Figures 3 and 6, the motor 11M is provided in the vicinity of the rotor 11T to be driven. Specifically, one motor 11M is provided on the upper surfaces 11F1T of both ends in the Y direction of the upper cylindrical portion 11F1 of the front frame member 11F, the lower surfaces 11F2U of both ends in the Y direction of the lower cylindrical portion 11F2 of the front frame member 11F, the upper surfaces 11B1T of both ends in the Y direction of the upper cylindrical portion of the rear frame member 11B, and the lower surfaces 11B2U of both ends in the Y direction of the lower cylindrical portion of the rear frame member 11B. The number and position of the motors 11M are not particularly limited.

[0058] Next, we will describe the details of the joint structure 60 that can be used as joint 11G.

[0059] As shown in Figures 7A and 7B, the joint structure 60 (separate component connecting structure) is formed in a cylindrical shape, and its axis is arranged coaxially with respect to the left frame member 11L (frame member). The joint structure 60 comprises a first segmented piece 61, a second segmented piece 62, and a rail engagement / disengagement connecting bolt 63 (rail engagement / disengagement connector) that connects the first segmented piece 61 and the second segmented piece 62.

[0060] As shown in Figures 7B to 7D, the first divided piece 61 is formed in a semi-cylindrical shape and comprises a first curved side surface 61A, a first joining surface 61B, a first one-sided portion 61C facing the front end of the left frame member 11L, a first end insertion hole 61D provided in the first one-sided portion 61C, a first other-sided portion 61E facing the middle part of the front frame member 11F, a first claw 61F (first middle-part engagement / disengagement portion) formed on the first other-sided portion 61E, a rail engagement groove 61G formed on the first other-sided portion 61E, and a first bolt hole 61X formed between the first claw 61F and the first divided piece 61.

[0061] The first curved side surface 61A and the first joining surface 61B form the side surfaces of the semi-cylindrical first segmented piece 61, and the cross-sectional shape appearing on a plane perpendicular to the X direction is semi-circular. In this cross-sectional shape, the first curved side surface 61A appears as an arc, and the first joining surface 61B appears as a straight line. The first end insertion hole 61D is a blind hole formed in a semi-cylindrical shape with the central axis AX 60 of the joint structure 60 as its axis. The first claw 61F is provided on the first curved side surface 61A side of the first other side portion 61E. The base portion 61FB of the first claw 61F protrudes from the first other side portion 61E toward the middle portion of the front frame member 11F, and the tip portion 61FS extends toward the first joining surface 61B. The first bolt hole 61X is provided so as to penetrate from the first curved side surface 61A to the first joining surface 61B.

[0062] Similarly, the second segmented piece 62 is formed in a semi-cylindrical shape and includes a second curved side surface 62A, a second joining surface 62B, a second one-sided portion 62C, a second end insertion hole 62D provided in the second one-sided portion 62C, a second other-sided portion 62E, a second claw 62F (first intermediate engagement / disengagement portion) formed in the second other-sided portion 62E, a rail engagement groove 62G formed in the second other-sided portion 62E, and a second bolt hole 62X formed between the second end insertion hole 62E and the second claw 62F.

[0063] The second curved side surface 62A and the second joining surface 62B form the side surfaces of the semi-cylindrical second segmented piece 62, and the cross-sectional shape appearing on a plane perpendicular to the X direction is semi-circular. In this cross-sectional shape, the second curved side surface 62A appears in an arc shape, and the second joining surface 62B appears in a straight line. The second end insertion hole 62D is a blind hole formed in a semi-cylindrical shape with the central axis AX 60 of the joint structure 60 as its axis. The second claw 62F is provided on the second curved side surface 62A side of the second other side portion 62E. The base portion 62FB of the second claw 62F protrudes from the second other side portion 62E, and the tip portion 62FS extends toward the second joining surface 62B. The second bolt hole 62X is a blind hole extending from the second joining surface 62B toward the second curved side surface 62A.

[0064] Here, the second joint surface 62B is superimposed on the first joint surface 61B so that the first bolt hole 61X and the second bolt hole 62X face each other (Figure 7C). Furthermore, when the first one side portion 61C and the second one side portion 62C are oriented in the same direction, and the first other side portion 61E and the second other side portion 62E are oriented in the same direction, the first bolt hole 61X and the second bolt hole 62X form a connecting bolt hole 60X for the rail engagement / detachment connecting bolt 63. Also, the rail engagement groove 61G and the rail engagement groove 62G form a rail housing space 60G capable of accommodating the engagement rail 11FR (Figure 6A) (Figure 7C). Finally, the first end insertion hole 61D and the second end insertion hole 62D form an end insertion hole 60D into which the front end of the left frame member 11L can be inserted (Figure 7C).

[0065] Thus, the joint structure 60 includes an end engagement / disengagement portion 66 having an end insertion hole 60D, a rail fitting structure 67 (intermediate engagement / disengagement portion) formed by a rail housing space 60G, a first claw 61F, and a second claw 62F, and a connecting portion 68 having a connecting bolt hole 60X. The connecting portion 60C is positioned between the end engagement / disengagement portion 60A and the intermediate engagement / disengagement portion 60B.

[0066] With the tip 61FS of the first claw 61F engaged with the first engagement groove 11FM1 and the tip 62FS of the second claw 62F engaged with the second engagement groove 11FM2, the second joining surface 62B is superimposed on the first joining surface 61B so that a rail housing space 60G is formed (Figure 7A). Then, when the first divided piece 61 and the second divided piece 62 are fastened together by the rail engagement / disengagement connecting bolt 63, the first claw 61F and the second claw 62F are tightly clamped against the engagement rail 11FR provided on the front frame member 11F (rail locked state), so that the left frame member 11L is restricted from sliding relative to the engagement rail 11FR.

[0067] When the rail is locked, the end locking portion 66 firmly grips the front end of the left frame member 11L, which is inserted into the end insertion hole 60D, from both sides, so that the front end of the left frame member 11L cannot be removed from the end insertion hole 60D (locked state).

[0068] Next, the fastening of the rail engagement / deactivation connecting bolt 63 is loosened to the extent that the first claw 61F engages with the first engagement groove 11FM1 and the second claw 62 engages with the second engagement groove 11FM2 (Figure 7E). At this time, the first claw 61F and the second claw 62F are in a state of weaker clamping against the engagement rail 11FR compared to the rail-locked state (rail engagement state). At this time, the left frame member 11L is engaged with the engagement rail 11FR to the extent that it can slide. Furthermore, at this time, the end engagement / deactivation part 66 weakly clamps the front end of the left frame member 11L inserted into the end insertion hole 60D, so that the front end of the left frame member 11L can be removed from the end insertion hole 60D (retraction and retraction state).

[0069] Furthermore, when the rail engagement / detachment connecting bolt 63 is removed (Figure 7F), the first claw 61F and the second claw 62F separate, causing the left frame member 11L to detach from the engagement rail 11FR (rail separation state).

[0070] In this way, by switching between the rail-engaged state (Figure 7E) and the rail-locked state (Figure 7A), the left frame member 11L can slide relative to the engaging rail 11FR, making it easier to align the left frame member 11L with respect to the front frame member 11F. Furthermore, when attaching the left frame member 11L as a separate component to the front frame member 11F after it has been separated from the rail, alignment is also made easier.

[0071] (Upper Frame) As shown in Figures 1 and 3, the upper frame 12 is for the safety of passengers in the passenger seat 20 and is positioned above the chair 21. The upper frame 12 comprises a front upper frame section 12F provided in front of the chair 21, a rear upper frame section 12B provided behind the chair 21, a left upper frame section 12L (second one-sided upper frame section) provided on the left side of the chair 21, a right upper frame section 12R (second other-sided upper frame section) provided on the right side of the chair 21, and a joint 12G.

[0072] As shown in Figures 3 and 8, the front upper frame section 12F and the rear upper frame section 12B each extend in the Y direction. The front upper frame section 12F is located behind the front frame member 11F, and the rear upper frame section 12B is located almost directly above the rear frame member 11B.

[0073] The left upper frame section 12L extends from the left end of the front upper frame section 12F to the left end of the rear upper frame section 12B. The left upper frame section 12L comprises the front upper frame section 12LF, the rear upper frame section 12LB, and the middle upper frame section 12LC.

[0074] The upper frame intermediate section 12LC is positioned above the front upper frame section 12F and the rear upper frame section 12B, extending in the X direction. The upper frame front section 12LF connects the front end of the upper frame intermediate section 12LC to the left end of the front upper frame section 12F, and gradually decreases in height from the front end of the upper frame intermediate section 12LC towards the left end of the front upper frame section 12F. The upper frame rear section 12LB connects the rear end of the upper frame intermediate section 12LC to the left end of the rear upper frame section 12B, and gradually decreases in height from the rear end of the upper frame intermediate section 12LC towards the left end of the rear upper frame section 12B.

[0075] The right upper frame section 12R extends from the right end of the front upper frame section 12F to the right end of the rear upper frame section 12B.

[0076] The right upper frame section 12R comprises an upper frame front section 12RF, an upper frame rear section 12RB, and an upper frame middle section 12RC. The upper frame front section 12RF, the upper frame rear section 12RB, and the upper frame middle section 12RC have the same structure as the upper frame front section 12LF, the upper frame rear section 12LB, and the upper frame middle section 12LC, respectively.

[0077] The joint 12G connects the left end of the front upper frame section 12F to the front end of the left upper frame section 12L. The joint 12G also connects the right end of the front upper frame section 12F to the front end of the right upper frame section 12R. Similarly, the joint 12G connects the left end of the rear upper frame section 12B to the rear end of the left upper frame section 12L. The joint 12G also connects the right end of the rear upper frame section 12B to the rear end of the right upper frame section 12R. As a result, the front upper frame section 12F, the right upper frame section 12R, the rear upper frame section 12B, and the left upper frame section 12L are connected to each other in a plan view from the Z direction, arranged to surround the chair 21.

[0078] The upper frame 12 is preferably symmetrical with respect to the reference plane SF. In particular, the left upper frame portion 12L and the right upper frame portion 12R are preferably symmetrical with respect to the reference plane SF.

[0079] As shown in Figures 5 and 8, in a plan view from the Z direction, the reference frame 11 and the upper frame 12 coincide with the rotation trajectory 11TR of the rotor 11T. More specifically, the rotation trajectory 11TR of the front left rotor 11T coincides with the front frame member 11F and the left frame member 11L, as well as the front upper frame section 12F and the left upper frame section 12L. Similarly, the rotation trajectory 11TR of the front right rotor 11T coincides with the front frame member 11F and the right frame member 11R, as well as the front upper frame section 12F and the right upper frame section 12R. Likewise, the rotation trajectory 11TR of the rear left rotor 11T coincides with the rear frame member 11B and the left frame member 11L, as well as the rear upper frame section 12B and the left upper frame section 12L. Furthermore, the rotational trajectory 11TR of the rear right rotor 11T overlaps with the rear frame member 11B and the right frame member 11R, as well as the rear upper frame section 12B and the right upper frame section 12R.

[0080] In a plan view in the Z direction, it is preferable that the chair 21 is exposed between the left upper frame portion 12L and the right upper frame portion 12R. This allows for getting on and off the chair 21 through the space between the left upper frame portion 12L and the right upper frame portion 12R. It is preferable that the distance between the left upper frame portion 12L and the right upper frame portion 12R is greater than or equal to the width of the chair 21.

[0081] (Upper support structure) As shown in Figures 3 and 8, the upper support structure 13 comprises a front support structure 13F (front upper support section) provided in front of the chair 21, a rear support structure 13B (rear upper support section) provided behind the chair 21, a left support structure 13L (second one-sided upper support frame section) provided on the left side of the chair 21, a right support structure 13R (second other-sided upper support frame section) provided on the right side of the chair 21, and a joint 13G.

[0082] 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 front support structure 13F is also connected to the front upper frame section 12F and the center of the front upper frame section 12F in the Y direction via a joint 13G.

[0083] The left-side support structure 13L is for supporting the left-side upper frame section 12L, and extends from the middle of the left-side frame member 11L to the middle of the left-side upper frame section 12L (particularly the front part 12LF of the upper frame). The left-side support structure 13L is also connected to the middle of the left-side frame member 11L and the middle of the left-side upper frame section 12L via a joint 13G.

[0084] The right-side support structure 13R is for supporting the right-side upper frame section 12R, and extends from the middle of the right-side frame member 11R to the middle of the right-side upper frame section 12R (particularly the front part 12RF of the upper frame). The right-side support structure 13R is also connected to the middle of the right-side frame member 11R and the middle of the right-side upper frame section 12R via a joint 13G.

[0085] 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 rear support structure 13B is also connected to the rear upper frame section 12B and the center of the rear upper frame section 12B in the Y direction via a joint 13G.

[0086] The front support structure 13F is positioned diagonally such that its lower end is in front of its upper end. The left support structure 13L is positioned diagonally such that its lower end is behind its upper end. Similarly, the right support structure 13R is positioned diagonally such that its lower end is behind its upper end. The rear support structure 13B is positioned diagonally such that its lower end is in front of its upper end.

[0087] The upper support structure 13 is preferably symmetrical with respect to the reference plane SF. In particular, the left support structure 13L and the right support structure 13R are preferably symmetrical with respect to the reference plane SF.

[0088] Here, the front support structure 13F is positioned between the rotational trajectories 11TR of the left and right front rotors 11T in the Y direction. This allows the left and right front rotors 11T to be brought closer together. Furthermore, the front support structure 13F is tilted backward, and its lower end is positioned behind the rotation centers of the left and right front rotors 11T. This allows the left and right front rotors 11T to be brought even closer together. Similarly, the rear support structure 13B is positioned between the rotational trajectories 11TR of the left and right rear rotors 11T, thus allowing the left and right rear rotors 11T to be brought closer together. Furthermore, the rear support structure 13B is tilted backward, and its lower end is positioned in front of the rotation centers of the left and right rear rotors 11T. This allows the left and right front rotors 11T to be brought even closer together.

[0089] Furthermore, since the front support structure 13F is positioned to tilt backward, the volume occupied by the rotorcraft 2 can be reduced compared to when the front support structure 13F is provided vertically or positioned to tilt forward. Also, because the left support structure 13L and the rear support structure 13B are tilted forward, a wide opening necessary for getting on and off the seat 21 can be secured. Similarly, since the rear support structure 13B is provided in the center of the reference frame 11 and the upper support structure 13 in the Y direction, a wide opening necessary for getting on and off the seat 21 can be secured. Also, since the rear support structure 13B is positioned to tilt backward, the volume occupied by the rotorcraft 2 can be reduced compared to when the rear support structure 13B is provided vertically or positioned to tilt forward, and a wide opening necessary for getting on and off the seat 21 can be secured.

[0090] (Lower Frame) As shown in Figures 4, 9 and 10, the lower frame 14 is positioned below the chair 21 and comprises a left leg portion 14L positioned on the left side of the chair 21, a right leg portion 14R positioned on the right side of the chair 21, a front leg connecting lateral member 14F positioned in front of the chair 21, a rear leg connecting lateral member 14B positioned behind the chair 21, a leg connecting lateral member 14H connecting the front leg connecting lateral member 14F and the rear leg connecting lateral member 14B, a chair support rod member 14K connected to the leg connecting lateral member 14H, and a joint 14G connecting each member.

[0091] The left leg portion 14L and the right leg portion 14R are arranged in the Y direction with a predetermined distance between them, and each extends in the X direction.

[0092] The front leg connecting lateral member 14F comprises a horizontal rod portion 14FH extending in the Y direction and downward extension portions 14FU extending downward from both ends of the horizontal rod portion 14FH. The height of the horizontal rod portion 14FH is located below the rotation trajectory 11TR of the rotor 11T, which is provided below the reference frame 11. The lower ends of the left and right downward extension portions 14FU connect the front part of the left leg portion 14L and the front part of the right leg portion 14R.

[0093] The lower frame 14 is preferably symmetrical with respect to the reference plane SF (Figure 8).

[0094] The rear leg connecting lateral member 14B comprises a horizontal rod portion 14BH extending in the Y direction and downward extension portions 14BU extending downward from both ends of the horizontal rod portion 14BH. The height of the horizontal rod portion 14BH is located below the rotation trajectory 11TR of the rotor 11T, which is provided below the reference frame 11. The lower ends of the left and right downward extension portions 14BU connect the rear part of the left leg portion 14L and the rear part of the right leg portion 14R.

[0095] Two leg connecting lateral members 14H are provided in the Y direction at a predetermined interval. Each leg connecting lateral member 14H extends in the X direction. Preferably, one leg connecting lateral member 14H is provided on each of the left and right sides of the chair 21.

[0096] The chair support rod members 14K are for supporting the chair 21 and are positioned below the chair 21. The chair support rod members 14K extend in the Y direction, and it is preferable that two of them are provided at a predetermined distance apart in the X direction. The left end of each chair support rod member 14K is connected to the left leg connecting horizontal member 14H, and the right end of each chair support rod member 14K is connected to the right leg connecting horizontal member 14H.

[0097] (Lower Support Structure) The lower support structure 15 is a rod-shaped member extending in the Z direction, and two are provided on the front leg connecting lateral member 14F and the rear leg connecting lateral member 14B. Here, it is preferable that the lower support structure 15 be positioned on both the left and right sides of the chair 21 in the Y direction. One lower support structure 15 is provided on each side of the horizontal rod portion 14FH of the front leg connecting lateral member 14F. One lower support structure 15 is provided on each side of the horizontal rod portion 14BH of the rear leg connecting lateral member 14B. The lower support structures 15 provided on the left side of the front leg connecting lateral member 14F and the left side of the rear leg connecting lateral member 14B are connected to the middle portion of the left frame member 11L via joints 15G. Similarly, the downward support structures 15 provided on the right side of the front leg connecting lateral member 14F and the right side of the rear leg connecting lateral member 14B are connected to the middle portion of the right frame member 11R via joints 15G.

[0098] The lower support structure 15 is preferably symmetrical with respect to the reference plane SF (Figure 8).

[0099] Each of the lower support structures 15 is positioned inward in the Y direction from the downward extensions 14FU and 14BU. As described above, the horizontal rods 14FH and 14BH are positioned horizontally, and their height is below the rotation trajectory 11TR of the rotor 11T located below the reference frame 11. This allows the front left and right rotors 11T and the rear left and right rotors 11T to be brought closer together in the X and Y directions.

[0100] The forming materials for the upper cylindrical portion, lower cylindrical portion and each component that constitute the reference frame 11, as well as the each component that constitutes the frame unit 10 for the rotorcraft, are preferably metal (for example, light metals such as aluminum), fiber-reinforced resin, etc.

[0101] (Passenger seat) As shown in Figures 1 and 10, the passenger seat 20 comprises a chair 21 located above the lower frame 14 and a mounting platform 22 positioned below the chair 21.

[0102] (Chair) As shown in Figure 5, the chair 21 is provided in the space 11X enclosed by the front frame member 11F, the rear frame member 11B, the left frame member 11L, and the right frame member 11R. In the X direction, it is preferable that the chair 21 is positioned between the front reinforcing crossbar 11J1 and the rear reinforcing crossbar 11K1. 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 10, the chair 21 comprises a seat portion 21Z, a back portion 21S that is provided to stand upright from the rear end of the seat portion 21Z, and a protruding member 21T.

[0103] Preferably, the seat surface of the seat portion 21Z is angled downward in the Z direction from the front end to the rear end. Preferably, the backrest portion 21S is angled upward in the Z direction from the front end to the rear end. As described above, the rear support structure 13B (Figure 1) is positioned behind the backrest portion 21S and is angled so that its lower end is in front of its upper end. This allows for a reduction in the height of the rotorcraft 2 while ensuring the safety of the passenger seat 20 and smooth boarding and alighting from the passenger seat 20.

[0104] As shown in Figures 9-10, the protruding member 21T supports the seat portion 21Z from below and is provided to protrude upward from the chair support rod member 14K. Preferably, the protruding member 21T is provided on the front of the two chair support rod members 14K. Preferably, the back portion 21S is close to the rear reinforcing crossbar 11K1. This allows the rear reinforcing crossbar 11K1 to support the back portion 21S from the rear when the back portion 21S undergoes elastic deformation.

[0105] The front frame member 11F, rear frame member 11B, left frame member 11L, and right frame 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 frame member 11F, rear frame member 11B, left frame member 11L, and right frame member 11R improve the protective effect on the occupant sitting in the chair 21. As described above, the left support structure 13L and the right support structure 13R (Figure 1) are positioned diagonally such that their lower ends are behind their upper ends, thereby preventing the occupant sitting in the chair 21 from being inadvertently thrown outside the reference frame 11.

[0106] (Base) As shown in Figures 10 to 11, the mounting base 22 comprises a base body 22A positioned below the chair 21, a footrest 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 vertical rod 22D extending upward in the Z direction from the footrest plate 22B, an opening / closing device 22E provided on the vertical support rods 22C, an opening / closing device locking member 22F, leg guard rod members 22G extending left and right from the vertical rods 22D, and a leg guard plate 22P (Figure 12).

[0107] 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.

[0108] 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.

[0109] As shown in Figures 10-11, the lower end of the vertical rod 22D is preferably positioned at, for example, the front end of the horizontal footrest 22BH, or at the boundary between the horizontal footrest 22BH and the inclined footrest 22BS. The upper end 22DT of the vertical rod 22D is connected to the reference frame 11 (for example, the front reinforcing vertical rod 11J2) via a joint (Figures 4 and 5).

[0110] As shown in Figures 10 and 12, it is preferable that the footrest plate 22B (especially the inclined footrest portion 22BS) be positioned lower than the rotation trajectory 11TR of the rotor 11T in the Z direction. This allows the footrest plate 22B (especially the inclined footrest portion 22BS) to overlap with the rotation trajectory 11TR of the rotor 11T in a plan view from the Z direction. This makes it possible to reduce the spacing between the rotors 11T. As a result, the dimensions of the reference frame 11 can be made smaller not only in the X and Y directions but also in the Z direction.

[0111] The lower support structure 15 is positioned inward in the Y direction (i.e., closer to the chair 21) than the downward extensions 14FU and 14BU. As described above, the horizontal rods 14FH and 14BH are positioned horizontally, and their height is below the rotation trajectory 11TR of the rotor 11T, which is located below the reference frame 11. As a result, in a plan view from the Z direction, the lower frame 14 overlaps with the rotation trajectory 11TR of the rotor 11T. This makes it possible to reduce the spacing between the rotors 11T. Consequently, the dimensions of the reference frame 11 can be reduced not only in the X and Y directions but also in the Z direction by the lower frame 14 and the lower support structure 15.

[0112] As shown in Figures 10-11, 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 10), while in the closed state, the rotation tip of the opening / closing device 22E is positioned vertically above the rotation base end.

[0113] 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 10, 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.

[0114] As shown in Figures 10-11, the leg guard bar member 22G is formed in a rod shape. The leg guard bar member 22G is positioned in front of the chair 21 and preferably above the footrest plate 22B. The leg guard bar member 22G includes one extending to the left from the vertical bar 22D and one extending to the right from the vertical bar 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 frame member 11L) via a joint (Figure 5). The lower of the former is preferably connected to the lower frame 14 (for example, the front leg connecting horizontal 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 frame member 11R) via a joint (Figure 5). Of the latter, the one located lower down is preferably connected to the lower frame 14 (for example, the front leg connecting lateral member 14F) (Figure 4).

[0115] As shown in Figure 11, of the leg guard bar members 22G extending left and right from the vertical bar 22D, the one provided below is preferably lower in the Z direction than the seat 21Z. Furthermore, it is preferable that these leg guard bar members 22G are positioned lower in the Z direction than the rotation trajectory 11TR of the rotor 11T provided below. As mentioned above, in a plan view from the Z direction, the footrest plate 22B (especially the inclined footrest portion 22BS) overlaps with the rotation trajectory 11TR of the rotor 11T. The lower end of the vertical bar 22D is positioned, for example, at the front end of the horizontal footrest portion 22BH, or at the boundary between the horizontal footrest portion 22BH and the inclined footrest portion 22BS. Therefore, the leg guard bar members 22G prevent the legs (especially the shins) of the passenger sitting in the chair 21 from entering the rotation trajectory of the rotor 11T. It is preferable that the footrest plate 22B (especially the inclined footrest portion 22BS) and the lower leg guard bar member 22G are separated by a predetermined distance in the Z direction. This allows the rider's feet (from the ankle down) to extend from between the footrest plate 22B (especially the inclined footrest portion 22BS) and the leg guard bar member 22G.

[0116] As shown in Figures 5 and 12, the leg guard plate 22P is attached to the leg guard rod members 22G, which are provided on the left and right sides with respect to the vertical rod 22D. More specifically, the leg guard plate 22P is provided to the leg guard rod members 22G, which are arranged at predetermined intervals in the Z direction.

[0117] (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.

[0118] Furthermore, it is preferable that the operation panel 30 be positioned above the seat 21Z. Here, it is preferable that the left support structure 13L and the right support structure 13R are positioned diagonally such that their lower ends are behind their upper ends. This makes it possible for the panel surface (display surface) of the operation panel 30 to be positioned diagonally such that its lower end is behind its upper end. In other words, the left support structure 13L and the right support structure 13R also serve as a mechanism for attaching the operation panel 30.

[0119] Furthermore, in a plan view from the Z direction, it is preferable that the control panel 30 overlaps with the seat 21Z (especially the front portion). This prevents the occupant sitting in the chair 21 from being inadvertently thrown outside the reference frame 11.

[0120] (Control device) The control device 80 electrically connects each device and component installed on the rotary-wing aircraft 2. As shown in Figure 13A, the control device 80 includes a flight controller 81, cameras / sensors 82, a gimbal 83, and an ESC 84.

[0121] 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.

[0122] 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.

[0123] The camera / sensor array 82 includes inertial sensors (accelerometers, gyroscopes), GPS sensors, proximity sensors (e.g., LiDAR), or vision / image sensors (e.g., cameras).

[0124] 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.

[0125] Next, we will explain how to use the rotary-wing aircraft 2.

[0126] 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. For example, when the rotary-wing aircraft 2 attempts to hover, the flight controller 81 individually drives each motor 11M to create conditions that enable hovering, while detecting signals from the cameras / sensors 82 and the gimbal 83.

[0127] Here, at the left end of the front frame member 11F, the rotor 11T provided on the upper cylindrical portion 11F1 rotates (Figure 13B). The rotation R1 of this rotor 11T generates an upward lift force in the direction of its rotation axis, as well as a radial thrust force F1 around the rotation axis (Figure 13C). To counteract this thrust force F1, it is preferable that the rotation directions of the rotor 11T provided on the upper cylindrical portion 11F1 (the rotor 11T labeled "upper" in Figure 13B) and the rotor 11T provided on the lower cylindrical portion 11F2 (the rotor 11T labeled "lower" in Figure 13B) at the left end of the front frame member 11F are opposite to those of the rotation axis AX1. The rotation R2 of the rotor 11T provided on the lower cylindrical portion 11F2 generates an upward lift force in the direction of its rotation axis, as well as a radial thrust force F2 around the rotation axis. This thrust force F2 can offset the thrust force F1.

[0128] Similarly, at the right end of the front frame member 11F, it is preferable that the rotation directions of the rotor 11T provided on the upper cylindrical portion 11F1 and the rotor 11T provided on the lower cylindrical portion 11F2 are opposite. At the left and right ends of the rear frame member 11B, it is preferable that the rotation directions of the rotor 11T provided on the upper cylindrical portion 11B1 and the rotor 11T provided on the lower cylindrical portion 11B2 are opposite when viewed from the rotation axis AX1.

[0129] Here, if the rotation axis AX1 of the rotor 11T does not pass through the connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 (Figures 13D to 13E), a radial thrust force F1 is generated at the left end of the upper cylindrical portion 11F1 around its rotation axis, and a radial thrust force F2 is generated at the left end of the lower cylindrical portion 11F2 around its rotation axis, due to the rotation of each rotor 11T (Figure 13F). As a result of these thrust forces F1 and F2, the left end of the upper cylindrical portion 11F1 and the left end of the lower cylindrical portion 11F2 bend in opposite directions in the horizontal plane, and the relative positions of the rotation axes of the two rotors 11T, which are provided vertically, differ between the rotating state and the stationary state. This phenomenon occurs not only at the left end of the front frame member 11F, but also at the right end of the front frame member 11F and at both ends of the rear frame member 11B.

[0130] Changes in the relative positions of the rotation axes of the upper and lower rotors 11T increase the control load on the flight controller 81. In particular, if the relative positions of the rotation axes of the upper and lower rotors 11T oscillate, it increases the control load on the flight controller 81. Furthermore, as a result of the control by the flight controller 81, there is a risk that this vibration may not be dampened, leading to resonance. In such a case, stabilizing the flight attitude of the rotorcraft 2 becomes difficult.

[0131] In the rotor-wing aircraft 2, the rotation axis of the rotor 11T passes through a connecting structure that links the upper cylindrical section and the lower cylindrical section (Figures 6A to 6E). This makes it easier to maintain the relative position of the rotation axes of the two rotors 11T located above and below each other, and as a result, the flight attitude of the rotor-wing aircraft 2 becomes more stable.

[0132] Furthermore, in the front frame member 11F, lift is generated at the position where the rotor 11T is installed, that is, at the left end in the Y direction of the front frame member 11F (first position) and at the right end in the Y direction of the front frame member 11F (second position). Consequently, upward forces are generated at both ends of the front frame member 11F, causing the central part of the front frame member 11F to flex due to the weight of the parts connected to the front frame member 11F and the weight of the front frame member 11F itself.

[0133] The bending of the central part of the front frame member 11F changes the thrust vector of the rotors 11T attached to both ends of the front frame member 11F. Also, the bending of the central part of the front frame 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 to counteract the changes induced by the bending of the central part of the front frame 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 frame member 11F based on the new control signal, and the central part of the front frame 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 frame member 11F.

[0134] The deflection caused by the operation of the rotor 11T described above can occur not only in the central part of the front frame member 11F, but also in the central part of the rear frame member 11B. Furthermore, it can also occur in the left frame member 11L and the right frame member 11R that are connected to the front frame member 11F and the rear frame 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.

[0135] In the rotorcraft 2, the reference frame 11, that is, the front frame member 11F and the rear frame 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 frame member 11L and the right frame 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.

[0136] As shown in Figures 5 and 8, in the rotor-wing aircraft 2, in a plan view from the Z direction, the upper frame 12 can be positioned so as to overlap with the rotation trajectory 11TR of the rotor 11T. More specifically, the front upper frame section 12F and the left upper frame section 12L can be positioned so as to overlap with the rotation trajectory 11TR of the front left rotor 11T. Also, the front upper frame section 12F and the right upper frame section 12R can be positioned so as to overlap with the rotation trajectory 11TR of the front right rotor 11T. Similarly, the rear upper frame section 12B and the left upper frame section 12L can be positioned so as to overlap with the rotation trajectory 11TR of the rear left rotor 11T. Furthermore, the rear upper frame section 12B and the right upper frame section 12R can be positioned so as to overlap with the rotation trajectory 11TR of the rear right rotor 11T.

[0137] In this way, the distance between the rotors 11T can be reduced, so the dimensions of the reference frame 11 can be made smaller in the X, Y, and Z directions.

[0138] Furthermore, the front support structure 13F is positioned between the rotational trajectories 11TR of the front left and right rotors 11T. As a result, the front left and right rotors 11T can be brought closer together in the Y direction. Similarly, the rear support structure 13B is positioned between the rotational trajectories 11TR of the rear left and right rotors 11T. As a result, the rear left and right rotors 11T can be brought closer together in the Y direction. Consequently, the upper support structure 13 supports the upper frame 12 and allows the dimensions of the reference frame 11 to be reduced not only in the X and Y directions but also in the Z direction.

[0139] Similarly, each of the lower support structures 15 is positioned inward in the Y direction from the downward extensions 14FU and 14BU. As described above, the horizontal rods 14FH and 14BH are positioned horizontally, and their height is below the rotation trajectory 11TR of the rotor 11T, which is located below the reference frame 11. As a result, in a plan view from the Z direction, the lower frame 14 coincides with the rotation trajectory 11TR of the rotor 11T. Consequently, the dimensions of the reference frame 11 can be reduced not only in the X and Y directions but also in the Z direction by the lower frame 14 and the lower support structures 15.

[0140] Regarding the installation position of the front upper frame portion 12F in the Y direction, in the above embodiment, the front upper frame portion 12F was positioned in front of the chair 21, but the present invention is not limited thereto. For example, the front upper frame portion 12F may be positioned directly above the chair 21.

[0141] Regarding the installation positions of the upper and lower ends of the front support structure 13F in the Y direction, in the above embodiment, the upper and lower ends were positioned in front of the chair 21, but the present invention is not limited thereto. For example, the upper end of the front support structure 13F may be positioned in front of the chair 21, while the lower end of the front support structure 13F may be positioned directly above the chair 21.

[0142] In the above embodiment, the lower end of the front support structure 13F is connected to the front reinforcing member 11J, but the present invention is not limited thereto, and the lower end of the front support structure 13F may be connected to the reference frame 11 (for example, the front frame member 11F, etc.). Similarly, in the above embodiment, the lower end of the rear support structure 13B is connected to the rear reinforcing member 11K, but the present invention is not limited thereto, and the lower end of the rear support structure 13B may be connected to the reference frame 11 (for example, the rear frame member 11B, etc.).

[0143] Regarding the installation positions of the upper and lower ends of the left support structure 13L and the rear support structure in the Y direction, in the above embodiment, the upper ends of each were positioned in front of the chair 21, while the lower ends of each were positioned to the left and right of the chair 21. However, the present invention is not limited to this. For example, the upper ends of the left support structure 13L and the rear support structure 13B may be in front of the chair 21, and the lower ends may be positioned to the rear of the chair 21. Alternatively, the upper and lower ends of the left support structure 13L and the rear support structure 13B may be positioned in front of the chair 21. Furthermore, the upper and lower ends of the left support structure 13L and the rear support structure 13B may be positioned to the left and right of the chair 21. Furthermore, the upper and lower ends of the left support structure 13L and the rear support structure 13B may be positioned to the rear of the chair 21.

[0144] Regarding the installation positions of the upper and lower ends of the rear support structure 13B in the Y direction, in the above embodiment, with respect to the rear-tilted rear support structure 13B, the upper and lower ends were positioned behind the chair 21, but the present invention is not limited thereto. For example, the upper end of the rear support structure 13B may be positioned behind the chair 21, while the lower end of the rear support structure 13B may be positioned to the left or right of the chair 21.

[0145] In the above embodiment, the diagonal reinforcing members 11H arranged on both the left and right sides of the chair 21 are provided with diagonal reinforcing members 11H connecting both ends of the front frame member 11F to the middle part of the left frame member 11L or the right frame member 11R, and diagonal reinforcing members 11H connecting both ends of the rear frame member 11B to the middle part of the left frame member 11L or the right frame member 11R. However, the present invention is not limited thereto. For example, as shown in Figure 14, the reference frame 11 may also be provided with a parallel reinforcing member 11P. The parallel reinforcing member 11P is arranged parallel to the left frame member 11L on the left side in the Y direction, and both ends thereof are connected to the front frame member 11F and the rear frame member 11B via joints 11G. Furthermore, the parallel reinforcing member 11P is positioned parallel to the right-side frame member 11R on the right side in the Y direction, and both ends thereof are connected to the front frame member 11F and the rear frame member 11B via joints 11G.

[0146] The parallel reinforcing member 11P, like the diagonal reinforcing member 11H, can improve the rigidity of the frame body of the reference frame 11, and therefore may be used in place of the diagonal reinforcing member 11H. Furthermore, since the parallel reinforcing member 11P is arranged parallel to the left frame member 11L and the right frame member 11R, the parallel reinforcing member 11P, together with the left frame member 11L and the right frame member 11R, can be used as a step that can be used when passengers get on and off.

[0147] In the above embodiment, the front support structure 13F was tilted backward, but the present invention is not limited to this, and the front support structure 13F may be tilted forward (Figure 15). Similarly, in the above embodiment, the rear support structure 13B was tilted backward, but the present invention is not limited to this, and the rear support structure 13B may be tilted forward. Furthermore, in the above embodiment, the left support structure 13L and the rear support structure 13B were positioned in front of the chair 21, but the present invention is not limited to this. In this case, the left support structure 13L and the rear support structure 13B may be tilted backward.

[0148] The following describes a modified version of the rotorcraft 2, but only the parts that differ from the above embodiment will be described. The same names and reference numerals will be used for parts that are the same as those in the above-described disassembly, and detailed descriptions will be omitted.

[0149] As shown in Figures 15-16, the rotorcraft 2 comprises a rotorcraft frame unit 110, a cockpit 20, an operation panel 30, a battery device 40, and a control device 80 that controls each component and device.

[0150] The frame unit 110 for a rotary-wing aircraft comprises a reference frame 11, an upper frame 112 (subordinate frame) positioned above the reference frame 11 in the Z direction, an upper support structure 113 (subordinate frame support structure) provided on the reference frame 11 to support the upper frame 112, a lower frame 14 positioned below the reference frame 11 in the Z direction, and a lower support structure 15 provided on the reference frame 11 to support the lower frame 114.

[0151] The upper frame 112 is intended to ensure the safety of passengers in the passenger seat 20 and is positioned above the seat 21. The upper frame 112 comprises a front upper frame section 112F located in front of the seat 21, a rear upper frame section 112B located behind the seat 21, a left upper frame section 112L located on the left side of the seat 21, a right upper frame section 112R located on the right side of the seat 21, and joints.

[0152] The upper support structure 113 includes a front support structure 113F provided in front of the chair 21, a rear support structure 113B provided behind the chair 21, a left support structure 113L provided on the left side of the chair 21, and a right support structure 113R provided on the right side of the chair 21.

[0153] The front support structure 113F is for supporting the front upper frame section 112F and extends from the front reinforcing member 11J (Figure 8) to the center of the front upper frame section 112F in the Y direction. The left support structure 113L is for supporting the left upper frame section 112L and extends from the middle of the left frame member 11L to the middle of the left upper frame section 112L. The right support structure 113R is for supporting the right upper frame section 112R and extends from the middle of the right frame member 11R to the middle of the right upper frame section 112R. The rear support structure 113B is for supporting the rear upper frame section 112B and extends from the rear reinforcing member 11K (Figure 8) to the center of the rear upper frame section 112B in the Y direction.

[0154] The front support structure 113F is positioned diagonally such that its lower end is behind its upper end. The left support structure 113L is positioned diagonally such that its lower end is in front of its upper end. Similarly, the right support structure 13R is positioned diagonally such that its lower end is in front of its upper end. The rear support structure 13B is positioned diagonally such that its lower end is behind its upper end. It is preferable that the operation panel 30 is attached to the front support structure 113F. In other words, the front support structure 113F also serves as a mechanism for attaching the operation panel 30.

[0155] The forward support structure 113F is positioned between the rotational trajectories 11TR of the left and right rotors 11T at the front. The forward support structure 113F tilts forward, allowing the left and right rotors 11T to be brought closer together in the Y direction. Similarly, the rear support structure 113B is positioned between the rotational trajectories 11TR of the left and right rotors 11T at the front, and the rear support structure 113B tilts forward. Furthermore, because the left support structure 113L and the rear support structure 113B are tilted backward, the left and right rear rotors 11T can be brought closer together in the Y direction. As a result, in the rotor-wing aircraft 2, in a plan view from the Z direction, the upper frame 112 can be positioned so as to overlap with the rotational trajectory 11TR of the rotors 11T. Therefore, the dimensions of the reference frame 11 can be made smaller in the X, Y, and Z directions.

[0156] 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 member portion) and lower cylindrical portion (second frame member portion) of the front frame member 11F and the rear frame 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.

[0157] In the above embodiment, the connecting structure in the front frame member 11F, rear frame member 11B, left frame member 11L, right frame member 11R, etc., extends from one end to the other end of the upper cylindrical portion (Figure 17A), but the present invention is not limited thereto. For example, the connecting structure 11F5 may be provided from the left end to the right end of the upper cylindrical portion 11F1 of the front frame member 11F, with a predetermined interval CL5 (Figure 17B). Here, it is preferable that the rotation axis AX1 of the rotor 11T passes through the connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 (Figures 17C to 17D). This makes it easier to stabilize the attitude of the rotorcraft 2.

[0158] Furthermore, as shown in Figures 17D to 17F, when the rotation axis AX1 of the rotor 11T passes between multiple connecting structures 11F5, it is preferable that the position where the rotor 11T is installed (first position or second position) has a structure in which both ends are fixed. In this case as well, the attitude of the rotor-wing aircraft 2 is easier to stabilize compared to a so-called cantilever structure (Figures 13D to 13E).

[0159] In the above embodiment, the rotation axis of the rotor 11T provided in the upper cylindrical portion and the rotation axis of the rotor 11T provided in the lower cylindrical portion of the frame member such as the front frame member 11F are assumed to be on the same straight line, but the present invention is not limited to this. In this case, the rotation axis line AX3 passing through one rotation axis and the rotation axis line AX4 passing through the other rotation axis may both pass through the same connecting structure 11F5 (Figures 17G to 17H), or they may pass through different connecting structures 11F5.

[0160] In the above embodiment, rotors 11T are provided on both the upper cylindrical portion and the lower cylindrical portion of a frame member such as the front frame member 11F. However, the present invention is not limited to this, and rotors 11 may be provided on either the upper cylindrical portion or the lower cylindrical portion. In this case as well, it is preferable that the rotation axis of the rotor 11T passes through the connecting structure 11F5.

[0161] In the above embodiment, the connecting structure in the front frame member 11F, rear frame member 11B, left frame member 11L, right frame member 11R, etc., connects the upper cylindrical portion (first rod member) and the lower cylindrical portion (second rod member) with a single connecting structure, but the present invention is not limited to this. For example, as shown in Figures 18A to 18B, the front frame member 11F may include an upper cylindrical portion 11F1, a lower cylindrical portion 11F2, a first connecting structure 11F51 connecting the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2, and a second connecting structure 11F52 connecting 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 rotation 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. In this case as well, the rotation axis AX1 passing through the rotation axis of the rotor 11T may pass through the first connecting structure 11F51 or the second connecting structure 11F5, or it may pass between the first connecting structure 11F51 and the second connecting structure 11F52 (Figure 18C).

[0162] In the above embodiment, the front frame member 11F, etc., is provided with a connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2. However, the present invention is not limited thereto, and the connecting structure 11F5 may be omitted. For example, as shown in Figure 17A, the front frame 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 11F2 may be integrated. Similarly, as shown in Figure 17B, the front frame 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.

[0163] In the above embodiment, the members constituting the reference frame 11, such as the front frame member 11F, rear frame member 11B, left frame member 11L, and right frame member 11R, are provided with an upper cylindrical portion (first rod member), a lower cylindrical portion (second rod member), 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 member portion, and instead of the lower cylindrical portion, an elliptical or rectangular lower cylindrical portion may be used as the first frame member 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 frame member 11F shown in Figure 20A 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 frame member 11F shown in Figure 20A, the connecting structure 11F5 may be omitted, and the front frame member 11F may be made by directly welding a cylindrical upper cylindrical portion 11F1 and a rectangular cylindrical lower cylindrical portion 11F2 (Figure 20B). Moreover, as shown in Figure 20C, the connecting structure 11F5 that connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 may be a front frame 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.

[0164] 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.

[0165] In the above embodiment, the connecting structure 11F5 is formed in a plate shape, but the present invention is not limited to this, and it may be in a rod shape or other shape as long as it connects the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2.

[0166] 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 21A). In order to prevent horizontal deflection and vibration of the front frame member 11F, the upper cylindrical portion 11F1 and the lower cylindrical portion 11F2 may be arranged horizontally (Figure 21B). In either case, it is preferable that the mounting position of the rotor 11T in the upper cylindrical portion be fixed to the lower cylindrical portion, and it is preferable that the mounting position of the rotor 11T in the lower cylindrical portion be fixed to the upper cylindrical portion.

[0167] Furthermore, the diagonal reinforcing member 11H has a structure similar to that of the left frame member 11L, etc., and includes an upper cylindrical portion and a lower cylindrical portion positioned below the upper cylindrical portion in the Z direction, thereby making it possible to suppress horizontal deflection and vibration of the front frame member 11F, etc. Moreover, it is preferable that the diagonal reinforcing member 11H includes a connecting structure that connects the upper cylindrical portion and the lower cylindrical portion.

[0168] In the above embodiment, the first frame member portion and the second frame member 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.

[0169] In the above embodiment, the joint structure 60 was used to align the left frame member 11L with respect to the front frame member 11F. However, the present invention is not limited to this, and the right frame member 11R may also be aligned with respect to the front frame member 11F. Similarly, the joint structure 60 may also be used to align the left frame member 11L or the right frame member 11R with respect to the rear frame member 11B.

[0170] Next, we will explain the calibration method 600 for rotary-wing aircraft.

[0171] As shown in Figure 22A, the rotorcraft calibration method 600 comprises a first assembly step 610, a first calibration step 620, a second assembly step 630, and a second calibration step 640.

[0172] The first assembly step 610 involves assembling the rotorcraft 2 using the various parts.

[0173] In the first calibration step 620, power is supplied to the control unit of the rotorcraft 2 assembled in the first assembly step 610, and the rotorcraft 2 is mounted on a turntable to create six attitudes: a normal attitude with the rotorcraft 2 positioned horizontally, an inverted attitude with the normal attitude upside down, a vertical ascent attitude with the front of the rotorcraft 2 pointing vertically upward, a vertical effect attitude with the front of the rotorcraft 2 pointing vertically downward, a left-side down attitude with the left side of the rotorcraft 2 pointing vertically downward, and a right-side down attitude with the right side of the rotorcraft 2 pointing vertically downward. Then, using the turntable, the rotorcraft 2 is rotated 2 to 3 times around its rotation axis in each attitude. This performs calibration of the flight controller 81. Next, after the rotorcraft 2 has flown, the flight controller 81 reads the predetermined attitude of the rotorcraft 2 while reading various sensors. Then, the flight controller 81 adjusts the rotor output so that the attitude of the rotorcraft 2 becomes the target attitude, and reads the predetermined attitude of the rotorcraft 2 while reading various sensors. The flight controller 81 determines whether the attitude of the rotorcraft 2 has reached a predetermined attitude. When it is determined that the attitude of the rotorcraft 2 has reached a predetermined attitude, the flight controller 81 stores the output conditions of the rotor in its internal memory.

[0174] In the second assembly step 630, the middle section of the front frame member 11F and the front end of the left frame member 11L are connected by a joint structure 60 (Figure 7A) in which the first claw 61F and the second claw 62F are firmly clamped against the engagement rail 11FR provided on the front frame member 11F (rail locked state). At this time, the fastening of the rail engagement / disengagement connecting bolt 63 is loosened (Figure 7E). At this time, the first claw 61F and the second claw 62F are weakly clamped against the engagement rail 11FR (rail engaged state). Next, since the left frame member 11L is engaged with the engagement rail 11FR to the extent that it can slide, the left frame member 11L is positioned relative to the middle section of the front frame member 11F by sliding the left frame member 11L. Subsequently, the first divided piece 61 and the second divided piece 62 are fastened together using rail-locking connecting bolts 63 so that the first claw 61F and the second claw 62F are firmly gripped against the engagement rail 11FR provided on the front frame member 11F (rail-locked state).

[0175] In the second calibration step 640, the control device 80 drives each rotor based on the rotor output conditions stored in the flight controller 81's internal memory. As a result, the rotary-wing aircraft 2 takes flight. The flight controller 81 reads a predetermined attitude of the rotary-wing aircraft 2 while reading various sensors. Subsequently, the flight controller 81 adjusts the rotor output so that the attitude of the rotary-wing aircraft 2 becomes the target attitude, and reads the predetermined attitude of the rotary-wing aircraft 2 while reading various sensors. As a result, when it is determined that the attitude of the rotary-wing aircraft 2 has reached the predetermined attitude, the output conditions of the rotor are stored in the flight controller 81's internal memory.

[0176] Thus, even if the position of the left frame member 11L is changed, the change in the position of the left frame member 11L relative to the middle part of the front frame member 11F is only in the Y direction, and is unlikely to occur in the X or Z directions. As a result, it is possible to avoid making significant changes from the calibration results performed before the position of the left frame member 11L was changed, thereby reducing the burden of repeating the calibration process.

[0177] Next, we will explain the modification method 700 for the frame unit of a rotary-wing aircraft.

[0178] As shown in Figure 22B, the modification method 700 for a rotary-wing aircraft frame unit comprises a loosening step 710, a removal step 720, an engagement step 730, a positioning step 740, and a locking step 750.

[0179] In the loosening step 710, the middle section of the front frame member 11F and the front end of the left frame member 11L are connected by a joint structure 60 (Figure 7A) in which the first claw 61F and the second claw 62F are firmly gripped against the engagement rail 11FR provided on the front frame member 11F (rail locked state). At this time, the fastening of the rail locking / unlocking connecting bolt 63 is loosened (Figure 7E). At this time, the first claw 61F and the second claw 62F are weakly gripped against the engagement rail 11FR (rail engaged state).

[0180] In the removal step 720, the front end of the left frame member 11L is removed from the end insertion hole 60D of the joint structure 60.

[0181] In the engagement step 730, the left frame member 11L, which is a separate component, is inserted into the end insertion hole 60D. At this time, the first claw 61F and the second claw 62F are loosely gripped against the engagement rail 11FR (rail engagement state).

[0182] In the positioning step 740, the left frame member 11L is engaged with the engagement rail 11FR to the extent that it can slide, and the sliding movement of the left frame member 11L positions the left frame member 11L relative to the middle part of the front frame member 11F. In the locking step 750, the first split piece 61 and the second split piece 62 are fastened together using the rail locking / unlocking connecting bolt 63 so that the first claw 61F and the second claw 62F are tightly gripped against the engagement rail 11FR provided on the front frame member 11F (rail locking state) (Figure 7A).

[0183] Thus, even if the left frame member 11L is replaced, the change in the position of the left frame member 11L relative to the middle part of the front frame member 11F is only in the Y direction, and is unlikely to occur in the X or Z directions. Calibration of the rotorcraft 2 will be performed after the replacement of the left frame member 11L, but unintended positional changes are unlikely to occur before and after the replacement of the left frame member 11L. For this reason, the processing burden of the second calibration step 640 can be reduced in the calibration method 600 after the replacement of the left frame member 11L. In addition, in the second calibration step 640, only the attitude related to the component whose mounting position has been changed from the aforementioned six attitudes can be performed, and the others can be omitted.

[0184] With the tip 61FS of the first claw 61F engaged with the first engagement groove 11FM1 and the tip 62FS of the second claw 62F engaged with the second engagement groove 11FM2, the second joining surface 62B is superimposed on the first joining surface 61B so that a rail housing space 60G is formed (Figure 7A). Then, when the first divided piece 61 and the second divided piece 62 are fastened together by the rail engagement / disengagement connecting bolt 63, the first claw 61F and the second claw 62F are tightly clamped against the engagement rail 11FR provided on the front frame member 11F (rail locked state), so that the left frame member 11L is restricted from sliding relative to the engagement rail 11FR.

[0185] Furthermore, at this time, the end engagement portion 66 firmly grips the front end of the left frame member 11L inserted into the end insertion hole 60D, so that the front end of the left frame member 11L cannot be removed from the end insertion hole 60D (retained state).

[0186] Next, when the fastening of the rail engagement / disengagement connecting bolt 63 is loosened (Figure 7E), the first claw 61F engages with the first engagement groove 11FM1, and the second claw 62 engages with the second engagement groove 11FM2. At this time, the first claw 61F and the second claw 62F are loosely gripped against the engagement rail 11FR (rail engagement state). At this time, the left frame member 11L is engaged with the engagement rail 11FR to the extent that it can slide. Furthermore, at this time, the end engagement / disengagement part 66 loosely grips the front end of the left frame member 11L inserted into the end insertion hole 60D, so that the front end of the left frame member 11L can be removed from the end insertion hole 60D (retraction and retraction state).

[0187] Furthermore, when the rail engagement / detachment connecting bolt 63 is removed (Figure 7F), the first claw 61F and the second claw 62F separate, causing the left frame member 11L to detach from the engagement rail 11FR (rail separation state).

[0188] In this way, by switching between the rail-engaged state and the rail-locked state, the left frame member 11L can slide relative to the engaging rail 11FR, making it easier to align the left frame member 11L with respect to the front frame member 11F. Furthermore, when attaching the left frame member 11L as a separate component to the front frame member 11F after it has been separated from the rail, alignment is also made easier.

[0189] In the above embodiment, a ribbed engagement rail 11FR that protrudes radially outward was used as the engagement rail, but the present invention is not limited to this, and a grooved engagement rail that is recessed radially inward may also be used. In this case, the first claw 61F (first intermediate engagement / disengagement portion) and the second claw 62F (first intermediate engagement / disengagement portion) should be switchable between a state in which they are strongly pressed against the groove wall of the engagement rail (rail locked state) and a state in which they are weakly pressed against the groove wall of the engagement rail (rail engaged state) depending on the strength of the fastening of the rail engagement / disengagement connecting bolt 63.

[0190] In the above embodiment, a joint 11 having a joint structure 60 was used to connect the front frame member 11F, the front frame member 11B, the left frame member 11L, and the right frame member 11R, but the present invention is not limited thereto. Joints 12G, 13G, 14G, 15G, etc., may also use joints having a joint structure 60.

[0191] In the above embodiment, a joint structure 60 was used to align the relative positions of the two frame members, but the present invention is not limited thereto. For example, as shown in Figures 6B and 6E, the rotor 11T may be provided via a sliding base 11SD that is slidable relative to the rail 11FR. The sliding base 11SD is provided with fastening bolts (not shown). By tightening the fastening bolts, the sliding movement of the sliding base 11SD relative to the rail 11FR is restricted, while by loosening or removing the fastening bolts, the sliding movement of the sliding base 11SD relative to the rail 11FR is permitted. This makes it easy to position the rotor 11T at a predetermined position on the rail 11FR.

[0192] Next, we will describe the slide base mechanism 210, which can be used as the slide base 11SD.

[0193] As shown in Figures 23A to 23B, the slide base mechanism 210 includes an engagement unit 211 that can engage with the engagement rail 11FR, a slide rail 212 provided on the engagement unit 211, and a slide unit 213 that is movable along the slide rail 212.

[0194] The engagement unit 211 comprises a first engagement block 211A, a second engagement block 211B, and a connecting bolt 211C for the engagement blocks.

[0195] The first engagement block 211A is positioned on one side in the X direction (left side in Figure 23A) of the engagement rail 11FR, and comprises a rectangular parallelepiped first block body 211AA and a first engagement claw 211AB provided below the first block body 211AA and capable of engaging with the first engagement groove 11FM1.

[0196] The first block body 211AA is formed in a rectangular parallelepiped shape and consists of sides extending in the X, Y, and Z directions. On the side surfaces 211AS of the first block body 211AA that extend in the Y and Z directions, bolt holes extending in the X direction are arranged in the Y direction.

[0197] The second engagement block 211B is positioned on the other side of the engagement rail 11FR in the X direction (right side in Figure 23A) and comprises a rectangular parallelepiped second block body 211BA with sides extending in the X, Y, and Z directions, and a second engagement claw 211BB provided below the second block body 211BA and capable of engaging with the second engagement groove 11FM2.

[0198] The second block body 211BA is formed in a rectangular parallelepiped shape and consists of sides extending in the X, Y, and Z directions. On the side surfaces 211BS of the second block body 211BA that extend in the Y and Z directions, bolt holes extending in the X direction are arranged in the Y direction.

[0199] The slide rail 212 includes a first rail forming groove 212A provided above the first block body 211AA and a second rail forming groove 212B provided above the second block body 211AB. The first rail forming groove 212A and the second rail forming groove 212B each extend in the Y direction.

[0200] The slide unit 213 is provided with a rail engagement portion 213A at its lower end that engages with the slide rail 212. Of the rail engagement portion 213A, one side in the X direction (the left side in Figure 23A) engages with the first rail forming groove 212A. Of the rail engagement portion 213A, the other side in the X direction (the right side in Figure 23B) engages with the second rail forming groove 212A.

[0201] The connecting bolt 211C for the engagement block can be screwed into the bolt holes formed in the first engagement block 211A and the second engagement block 211B, so that the first engagement block 211A and the second engagement block 211B can be fastened together using the connecting bolt 211C for the engagement block. When the first engagement block 211A and the second engagement block 211B are fastened together, the engagement unit 211 is locked to the engagement rail 11FR (rail locked state). On the other hand, when the first engagement block 211A and the second engagement block 211B are fastened more loosely than in the rail locked state, the engagement unit 211 is slidably engaged with the engagement rail 11FR (rail engaged state). This makes it possible to align the first engagement block 211A and the second engagement block 211B on the engagement rail 11FR. Subsequently, when the first engagement block 211A and the second engagement block 211B are tightly fastened together, the engagement unit 211 is locked to the engagement rail 11FR (rail-locked state). This allows the first engagement block 211A and the second engagement block 211B to be positioned on the engagement rail 11FR.

[0202] In the rail-engaged state, the slide unit 213 is movable along the slide rail 212, while in the rail-locked state, the movement of the slide unit 213 along the slide rail 212 is restricted.

[0203] As a result, the rotor 11T and motor 11M can be freely switched between a rail-engaged state in which they can slide along the slide rail 212 and engagement rail 11FR, and a rail-locked state in which their sliding movement is restricted. Therefore, alignment and positioning of the rotor 11T and motor 11M in the Y direction can be easily achieved.

[0204] In the above embodiment, the rotor 11T and the like were aligned and positioned along the engagement rail 11FR using the slide base 11SD and the slide base mechanism 210, but the present invention is not limited thereto. By fixing the flight controller 81, battery device 40, chair 21 and control panel 30 to the upper surface of the slide unit 213, it becomes possible to align and position the flight controller 81, battery device 40, chair 21 and control panel 30 in a predetermined direction.

[0205] In the above embodiment, a joint structure 60 (Figures 7A to 7F) having an end insertion hole into which the end of a frame member (for example, the left frame member 11L) can be inserted has been described. However, the present invention is not limited thereto, and may also have an opening insertion portion that can be inserted into an opening formed at the end of the frame member.

[0206] Next, we will describe in detail the joint structure 160, which can be used as a modified example of joint 11G.

[0207] As shown in Figures 24A to 24B, the joint structure 160 (separate component connecting structure) is formed in a cylindrical shape and is arranged coaxially with respect to the left frame member 11L (Figure 24C). The joint structure 160 comprises a first segmented piece 161, a second segmented piece 162, and a rail engagement / disengagement connecting bolt 63 (rail engagement / disengagement connector) that connects the first segmented piece 161 and the second segmented piece 162.

[0208] As shown in Figures 24B to 24C, the first segmented piece 161 includes an end engagement portion 161A facing the front end of the left frame member 11L, a rail fitting portion 161B facing the middle of the front frame member 11F, and a connecting portion 161C that connects the end engagement portion 161A and the rail fitting portion 161B.

[0209] The end engagement portion 161A is formed in a semi-cylindrical shape. Here, if the central axis of the joint structure 160 is defined as the central axis AX160, the side surface of the end engagement portion 161A comprises a first joint surface 161AB which is formed to be substantially flat, and a first curved side surface 161AA which is located below the first joint surface 161AB. The first joint surface 161AB extends on the XY plane passing through the central axis AX160. In a plane perpendicular to the X direction, the cross-sectional shape of the end engagement portion 161A is semi-circular. In this cross-sectional shape, the first curved side surface 161AA appears as an arc, and the first joint surface 161AB appears as a straight line.

[0210] The end engagement portion 161A is insertable into an opening 11LX formed at the front end of the cylindrical left frame member 11L, and the first curved side surface 161AA of the end engagement portion 161A contacts the lower inner wall surface 11LU of the inner wall surface of the left frame member 11L. Preferably, the outer diameter of the first curved side surface 161AA and the inner diameter (inner wall surface diameter) of the left frame member 11L are approximately equal.

[0211] The rail fitting portion 161B is formed in a semi-cylindrical shape. The side surface of the rail fitting portion 161B includes a substantially flat first joining surface 161BB, a first curved side surface 161BA located above the first joining surface 161BB, and a first bolt hole 161X provided in the first curved side surface 161BA. The first joining surface 161BB extends on the XY plane passing through the central axis AX160. In a plane perpendicular to the X direction, the cross-sectional shape of the rail fitting portion 161B is semi-circular. In this cross-sectional shape, the first curved side surface 161BA appears as an arc, and the first joining surface 161BB appears as a straight line. At the end portion 161BE of the rail fitting portion 161B that faces the middle of the front frame member 11F (Figure 24D), a first claw 161BF (first middle engagement / disengagement portion) and a rail engagement groove 161BG are formed. The first claw 161BF has the same structure as the first claw 61F (Figures 7C, 7D), and the rail engagement groove 161BG has the same structure as the rail engagement groove 61G (Figures 7C, 7D). The first bolt hole 161X is provided so as to penetrate from the first curved side surface 61BA to the first joint surface 61BB.

[0212] As shown in Figures 24B to 24C, with reference to the XY plane passing through the central axis AX160, the rail fitting portion 161B is located on one side (the upper side in Figure 24C), and the end engagement / disengagement portion 161A is located on the other side (the lower side in Figure 24C).

[0213] The connecting portion 161C is formed in a semi-cylindrical shape. The side surface of the connecting portion 161C includes a first joining surface 161CB extending on the XZ plane passing through the central axis AX160, and a first curved side surface 161CA located to the right of the first joining surface 161CB (towards the back of the paper in Figure 24C). In a plane perpendicular to the X direction, the cross-sectional shape of the connecting portion 161C is semi-circular. In this cross-sectional shape, the first curved side surface 161CA appears as an arc, and the first joining surface 161CB appears as a straight line.

[0214] As shown in Figures 24B to 24C, the second segmented piece 162 includes an end engagement portion 162A facing the front end of the left frame member 11L, a rail fitting portion 162B facing the middle of the front frame member 11F, and a connecting portion 162C that connects the end engagement portion 162A and the rail fitting portion 162B.

[0215] The end engagement portion 162A is formed in a semi-cylindrical shape. The side surface of the end engagement portion 161A includes a substantially flat second joining surface 162AB and a second curved side surface 162AA located above the second joining surface 162AB. The second joining surface 162AB extends on the XY plane passing through the central axis AX160. In a plane perpendicular to the X direction, the cross-sectional shape of the end engagement portion 162A is semi-circular. In this cross-sectional shape, the second curved side surface 162AA appears as an arc, and the second joining surface 162AB appears as a straight line. The end engagement portion 162A is insertable into the opening 11LX of the left frame member 11L, and the second curved side surface 162AA of the end engagement portion 162A contacts the upper inner wall surface 11LT of the inner wall surface of the left frame member 11L. It is preferable that the outer diameter of the second curved side surface 162AA and the inner diameter (inner wall surface diameter) of the left frame member 11L are approximately equal.

[0216] The rail fitting portion 162B is formed in a semi-cylindrical shape. The side surface of the rail fitting portion 162B includes a second joining surface 162BB extending on the XY plane passing through the central axis AX160, a second curved side surface 162BA located below the second joining surface 162BB, and a second bolt hole 162X provided in the second curved side surface 162CA. In a plane perpendicular to the X direction, the cross-sectional shape of the rail fitting portion 162B is semi-circular. In this cross-sectional shape, the second curved side surface 162BA appears as an arc, and the second joining surface 162BB appears as a straight line. At the end portion 162BE of the rail fitting portion 162B facing the middle part of the front frame member 11F, a second claw 162BF (first middle part engagement / disengagement portion) and a rail engagement groove 162BG are formed. The second claw 162BF has the same structure as the second claw 62F (Figures 7C and 7D), and the rail engagement groove 162BG has the same structure as the rail engagement groove 62G (Figures 7C and 7D). The second bolt hole 162X is a blind hole extending from the second joint surface 162BB to the second curved side surface 162BA. The second bolt hole 162X has a thread formed into it into which a rail engagement / detachment connecting bolt 63 can be screwed.

[0217] With respect to the XY plane passing through the central axis AX160, the rail fitting portion 162B is located on the other side (the lower side in Figure 24C), and the end engagement / disengagement portion 162A is located on the other side (the upper side in Figure 24C).

[0218] The connecting portion 162C is formed in a semi-cylindrical shape. The side surface of the connecting portion 162C includes a second joining surface 162CB which is provided as substantially flat, and a second curved side surface 162CA located to the left of the second joining surface 162CB (towards the viewer in Figure 24C). The second joining surface 162CB extends on the XZ plane passing through the central axis AX160. In a plane perpendicular to the X direction, the cross-sectional shape of the connecting portion 162C is semi-circular. In this cross-sectional shape, the second curved side surface 162CA appears as an arc, and the second joining surface 162CB appears as a straight line.

[0219] Here, as shown in Figure 24C, the second joining surface 162BB is superimposed on the first joining surface 161BB so that the first bolt hole 161X and the second bolt hole 162X face each other. At this time, the first joining surface 161AB overlaps with the second joining surface 162AB, and the first joining surface 161CB overlaps with the second joining surface 162CB (Figure 24A). At this time, the end engagement portion 161A and the end engagement portion 162A, the rail fitting portion 161B and the rail fitting portion 162B, and the connecting portion 161C and the connecting portion 162C each become cylindrical (Figure 24E). As a result, the end engagement portion 161A and the end engagement portion 162A form a cylindrical body (Figure 24A). This cylindrical body can be inserted into the opening 11LX at the end of the cylindrical left frame member 11L (Figure 24D).

[0220] When the cylindrical end engagement portion 161A and end engagement portion 162A are inserted into the opening 11LX of the left frame member 11L, the first curved side surface 161AA of the end engagement portion 161A contacts the lower inner wall surface 11LU of the opening 11LX, and the second curved side surface 162AA of the end engagement portion 162A contacts the upper inner wall surface 11LT of the opening 11LX.

[0221] The first bolt hole 161X and the second bolt hole 162X form a connecting bolt hole 160X for the rail engagement / detachment connecting bolt 63. In addition, the rail engagement groove 161G and the rail engagement groove 162G form a rail housing space 160G capable of accommodating the engagement rail 11FR (Figure 24D).

[0222] Thus, the joint structure 160 includes an end engagement / disengagement portion 166 which is cylindrical due to the end engagement / disengagement portion 161A and the end engagement / disengagement portion 162A, a rail fitting structure 167 (intermediate engagement / disengagement portion) which is cylindrical due to the rail fitting portion 161B and the rail fitting portion 162B, and a connecting portion 168 which is cylindrical due to the connecting portion 161C and the connecting portion 162C (Figures 24A, 24E).

[0223] With the tip 161BS of the first claw 161BF engaged with the first engagement groove 11FM1 (Figure 7F) and the tip 162BS of the second claw 162BF engaged with the second engagement groove 11FM2 (Figure 7F), the second joining surface 162B is superimposed on the first joining surface 161B so that a rail housing space 160G is formed (Figure 24C). Then, when the first divided piece 161 and the second divided piece 162 are fastened together by the rail engagement / detachment connecting bolt 63, the first joining surface 161BB comes into contact with the second joining surface 162BB, while the first joining surface 161AB moves away from the second joining surface 162AB. As a result, as shown in Figure 24C, the first claw 161F and the second claw 162F are tightly gripped (rail locked) against the engagement rail 11FR provided on the front frame member 11F, and the sliding movement of the left frame member 11L relative to the engagement rail 11FR is restricted.

[0224] When the rail is locked, the first curved side surface 161AA of the end locking portion 161A abuts downward (radially outward) against the lower inner wall surface 11LU of the opening 11LX of the left frame member 11L, and the first curved side surface 161AA of the end locking portion 162A abuts upward (radially outward) against the upper inner wall surface 11LT of the opening 11LX of the left frame member 11L. The end locking portion 161A and the end locking portion 162A that constitute the end locking portion 166 press the opening 11LX of the left frame member 11L radially outward from the inner wall surface, so that the end locking portion 166 cannot be removed from the opening 11LX of the left frame member 11L through the end insertion hole 60D (locked state).

[0225] Next, the fastening of the rail engagement / disengagement connecting bolt 63 is loosened to the extent that the first claw 161BF engages with the first engagement groove 11FM1 (Figure 7F) and the second claw 162BF engages with the second engagement groove 11FM2 (Figure 7F) (Figure 24D). At this time, the first claw 161BF and the second claw 162BF are in a state of weaker clamping against the engagement rail 11FR compared to the rail-engaged state (rail engagement state). At this time, the left frame member 11L is engaged with the engagement rail 11FR to the extent that it can slide. Furthermore, at this time, the end engagement portion 166 is weakly pressed radially outward against the inner wall surface of the opening 11X of the left frame member 11L, so that the end engagement portion 166 can be removed from the opening LX of the left frame member 11L (retracted state).

[0226] As a joint structure, not only the aforementioned joint structure 160 but also joint structure 260 (Figures 24F to 24H) may be used. Joint structure 260 comprises an end engagement / disengagement portion 166 which is formed by the end engagement / disengagement portion 161A and the end engagement / disengagement portion 162A forming a cylindrical body, a rail fitting structure 167 (intermediate engagement / disengagement portion) which is formed by the rail fitting portion 161B and the rail fitting portion 162B forming a cylindrical body, and a connecting portion 268 which is formed by the connecting portion 261C and the connecting portion 262C forming a cylindrical body. The connecting portion 261C extends spirally from the front surface of the end engagement / disengagement portion 161A to the rear surface of the rail fitting portion 161B. Similarly, the connecting portion 262C extends spirally from the front surface of the end engagement / disengagement portion 162A to the rear surface of the rail fitting portion 161B.

[0227] In the above embodiment, the rear upper frame portion 12B is positioned almost directly above the rear frame member 11B, but the present invention is not limited thereto, and the rear upper frame portion 12B may be positioned in front of or behind the rear frame member 11B. Similarly, in the above embodiment, the front upper frame portion 12F is positioned behind the front frame member 11F, but the present invention is not limited thereto, and the front upper frame portion 12F may be positioned in front of the front frame member 11F, or it may be positioned almost directly above the front frame member 11F.

[0228] In the above embodiment, a through hole (first bolt hole 161X) provided in the first divided piece 161 and a blind hole (second bolt hole 162X) provided in the second divided piece 162 form a connecting bolt hole for rail engagement and disengagement. However, the present invention is not limited to this, and a connecting bolt hole for rail engagement and disengagement may be formed by a through hole provided in the first divided piece and a through hole provided in the second divided piece. In this case, the rail engagement and disengagement connecting bolt may be inserted from the connecting bolt hole on one side, and the first divided piece and the second divided piece may be connected using a nut that can be attached to the rail engagement and disengagement connecting bolt from the connecting bolt hole on the other side.

[0229] In the above embodiment of the reference frame 11, rotors 11T are provided at both ends of the front frame member 11F and the rear frame member 11B, but the present invention is not limited thereto. For example, in the reference frame 11 shown in Figure 25(A), the left end of the front frame member 11F is connected via a joint to an intermediate part of the left frame member 11L (for example, an intermediate part in front of the chair 21), and the right end of the front frame member 11F is connected via a joint to an intermediate part of the right frame member 11R (for example, an intermediate part in front of the chair 21). On the other hand, the left end of the rear frame member 11B is connected via a joint to an intermediate part of the left frame member 11L (for example, an intermediate part behind the chair 21), and the right end of the rear frame member 11B is connected via a joint to an intermediate part of the right frame member 11R (for example, an intermediate part behind the chair 21). Rotors 11T may also be provided at the front and rear ends of the left frame member 11L and the right frame member 11R, respectively. Furthermore, as shown in Figure 25(B), the left end of the front frame member 11F is connected to the front end of the left frame member 11L via a joint, and the right end of the front frame member 11F is connected to the front end of the right frame member 11R via a joint. On the other hand, the left end of the rear frame member 11B is connected to the rear end of the left frame member 11L via a joint, and the right end of the rear frame member 11B is connected to the rear end of the right frame member 11R via a joint. Rotors 11T may also be provided at the front and rear ends of the left frame member 11L and the right frame member 11R, respectively.

[0230] As shown in Figure 26(A), instead of the front frame member 11F, rear frame member 11B, left frame member 11L, and right frame member 11R, first rod-shaped members 11A1 to fourth rod-shaped members 11A4 having a structure similar to that of the front frame member 11F 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 26(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 front frame 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.

[0231] Furthermore, in the reference frame 11 shown in Figures 25 and 26, an upper frame 12 may be provided above the reference frame 11 so as to surround the chair 21, and an upper support structure 13 (Figures 1, 5, and 8) may be provided to support the upper frame 12. Similarly, in the reference frame 11 shown in Figures 25 and 26, an upper frame 112 may be provided above the reference frame 11 so as to surround the chair 21, and an upper support structure 113 (Figures 15 and 16) may be provided to support the upper frame 112.

[0232] 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 a lower frame 14 other than the reference frame 11 and the chair support rod member 14K (for example, the front leg connecting lateral member 14F, the rear leg connecting lateral member 14B, and the leg connecting lateral member 14, etc.) or a lower support structure 115.

[0233] Furthermore, the chair 21 may be equipped with a hinge structure provided at the tip of the protruding member 21T. This hinge structure allows the chair to rotate freely around a pivot axis extending in the Y direction. With this hinge structure, the chair 21 can be switched between a retracted state in which the backrest 21S and seat 21Z are aligned horizontally (Figure 10) and an unfolded state in which the backrest 21S and seat 21Z are aligned diagonally or vertically (not shown). As a result, when the chair 21 is in the unfolded state, it is possible to work on items such as the mounting platform 22 located below the chair 21 and the battery device 40 located on the mounting platform 22.

[0234] In addition, the seated state of the chair 21 may be such that the backrest 21S is close to the rear reinforcing crossbar 11K1, or the unfolded state of the chair 21 may be such that the backrest 21S is farther away from the rear reinforcing crossbar 11K1.

[0235] 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.

[0236] 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.

[0237] In the above embodiment, the front frame member 11F is provided with an upper cylindrical portion 11F1, a lower cylindrical portion 11F2, and a connecting structure 11F5. However, the connecting structure 11F5 of the front frame member 11F may be omitted, or the connecting structure 11F5 and the lower cylindrical portion 11F2 of the front frame member 11F may be omitted, as long as it does not contradict the spirit of the present invention. Similarly, the connecting structure may be omitted, or the connecting structure and the lower cylindrical portion may be omitted, for the rear frame member 11B, the left frame member 11L, and the right frame member 11R.

[0238] 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.

[0239] 2 Rotary-wing aircraft 10, 100 Rotary-wing aircraft frame unit 11 Reference frame 11B Rear member 11F Front member 11FR Engagement rail 11G-13G Joint 11L Left member 11M Motor 11R Right member 11T Rotor 11TR Rotation trajectory 12, 112 Upper frame 13, 113 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 device 60 Joint structure 60A End engagement / disengagement section 60B Intermediate engagement / disengagement section 60C Connecting section 60D End insertion hole 60G Rail housing space 60X Connecting bolt hole 61G Rail engagement groove 61FB Base 61FS Tip 62G Rail engagement groove 62FB Base 62FS Tip 63 Rail engagement / disengagement connecting bolt 66 End engagement / disengagement part 67 Rail fitting structure 68 Connecting part 80 Control device 81 Flight controller 82 Camera / sensors 83 Gimbal 160 Joint structure 160A End engagement / disengagement part 160B Intermediate engagement / disengagement part 160C Connecting part 160D End insertion hole 160G Rail housing space 160X Connecting bolt hole 161G Rail engagement groove 162G Rail engagement groove 163 Rail engagement / disengagement connecting bolt 166 End engagement / disengagement part 167 Rail fitting structure 168 Connecting part AX1 to AX4 Rotation axis

Claims

1. A frame unit for a rotary-wing aircraft comprising a frame member, a separate component provided on the frame member, and a separate component connecting structure for connecting the separate component to the frame member, wherein the separate component connecting structure is connected to the frame member such that the separate component is movable along the frame member.

2. The separate component connecting structure is switchable between a separate component engaged state in which the separate component engages with the frame member, a separate component locked state in which the separate component is locked to the frame member, and a separate component separated state in which the separate component is separated from the frame member, wherein when the separate component engaged state, the separate component can move along the frame member, and when the separate component locked state, the movement of the separate component along the frame member is restricted, as described in claim 1.

3. The frame unit for a rotary-wing aircraft according to claim 2, wherein the separate component connecting structure comprises a frame engagement / detachment portion that can engage with the frame member and a separate component engagement / detachment portion that can engage with the separate component, and the frame engagement / detachment portion and the separate component engagement / detachment portion are connected.

4. The frame unit for a rotary-wing aircraft according to any one of claims 1 to 3, characterized in that the separate component is at least one of another frame member, a rotor, a battery, a flight controller, a seat, and an operating panel.

5. The frame unit for a rotary-wing aircraft according to any one of claims 1 to 3, wherein the frame member extends in a first direction, the other component is another frame member extending in a second direction different from the first direction, the other component connecting structure comprises an end engagement / disengagement portion that can engage with and disengage from the end of the frame member, and an intermediate engagement / disengagement portion that can engage with and disengage from an intermediate portion of the other frame member, and the end engagement / disengagement portion and the intermediate engagement / disengagement portion are connected.

6. The intermediate engagement / disengagement portion has a rail fitting structure that can be fitted to an engagement rail provided on the other frame member, and comprises a first intermediate engagement / disengagement portion having a first rail fitting portion formed thereon, a second intermediate engagement / disengagement portion having a second rail fitting portion formed thereon, and a rail engagement / disengagement connector for connecting the first intermediate engagement / disengagement portion and the second intermediate engagement / disengagement portion, wherein when the first intermediate engagement / disengagement portion and the second intermediate engagement / disengagement portion are connected by the rail engagement / disengagement connector, the rail fitting structure is formed by the first rail fitting portion and the second rail fitting portion, characterized in that the frame unit for a rotary-wing aircraft according to claim 5.

7. The intermediate engagement / disengagement portion is switchable between a rail engagement state in which the frame member engages with the engagement rail, a rail engagement state in which the frame member locks with the engagement rail, and a rail separation state in which the frame member is separated from the engagement rail, and the frame member is movable along the engagement rail when in the rail engagement state, as described in claim 6 for a rotary-wing aircraft frame unit.

8. The frame unit for a rotary-wing aircraft according to claim 5, wherein the end engagement portion has an end insertion hole into which the end of the frame member can be inserted, and comprises a first end engagement portion having a first hole, a second end engagement portion having a second hole, and an end engagement connecting bolt for connecting the first end engagement portion and the second end engagement portion, wherein when the first end engagement portion and the second end engagement portion are connected by the end engagement connecting bolt, the end insertion hole is formed by the first hole and the second hole.

9. The end engagement / disengagement portion comprises a first inner wall pressing portion capable of pressing against the inner wall of a hole or bore formed at the end of the frame member, a second inner wall pressing portion capable of pressing against the inner wall of the hole or bore, and a switching portion, wherein the switching portion allows the first inner wall pressing portion and the second inner wall pressing portion to switch between a pressing state in which they press against the inner wall of the hole or bore and a pressing-retracted state in which they are retracted from the pressing state, as described in paragraph 5.

10. The frame unit for a rotary-wing aircraft according to claim 6, characterized in that the engaging rail is a convex rail that protrudes from the side surface of the other frame member, or a concave rail that is recessed from the side surface of the other frame member.

11. A calibration method for a rotary-wing aircraft comprising: a first frame member; a second frame member; a rotor provided on at least one of the first frame member or the second frame member; a rotor control unit for controlling the rotor; and a frame connection structure for connecting the first frame member and the second frame member, the method comprising: a first assembly step of connecting the first frame member and the second frame member using the frame connection structure; a first calibration step performed after the first assembly step, in which the control conditions in the rotor control unit are set to a first control condition so that the attitude of the rotary-wing aircraft when it is airborne becomes a target value; a disassembly step of unconnecting the first frame member and the second frame member; a second assembly step of connecting the first frame member and a third frame using the frame connection structure; and a second calibration step performed after the second assembly step, in which the control conditions in the rotor control unit are set to a second control condition so that the attitude of the rotary-wing aircraft when it is airborne becomes a target value.

12. A method for modifying a frame unit for a rotary-wing aircraft, comprising: a first frame member extending in a first direction; a second frame member extending in a second direction different from the first direction; an engagement rail extending in the second direction on the side surface of the second frame member; a rotor provided on at least one of the first frame member or the second frame member; and a frame connecting structure connecting the first frame member and the second frame member, the method comprising: an engagement step of engaging the frame connecting structure with the engagement rail so that the first frame member can move along the second frame member; a positioning step of moving the first frame member along the second frame member while the frame connecting structure remains engaged with the engagement rail; and a locking step of locking the frame connecting structure with the engagement rail so that the movement of the first frame member along the second frame member is restricted.

13. A method for modifying a frame unit for a rotorcraft according to claim 12, wherein at least one of the first frame member and the second frame member comprises a first rod member and a second rod member arranged along the first rod member, and the first rod member and the second rod member are directly or indirectly connected on the rotation axis of the rotor.

14. A method for modifying a frame unit for a rotary-wing aircraft, comprising: a first frame member extending in a first direction; a second frame member extending in a second direction different from the first direction; a rotor provided on at least one of the first frame member or the second frame member; and a frame connection structure connecting the first frame member and the second frame member, comprising: a disconnection step of disconnecting the connection between the first frame member and the second frame member by the frame connection structure; a connection step of connecting a first high-strength frame member having a higher strength than the first frame member and a second high-strength frame member having a higher strength than the second frame member using the frame connection structure; and a rotor mounting step of attaching the rotor to at least one of the first high-strength frame member and the second high-strength frame member, wherein at least one of the first high-strength frame member and the second high-strength frame member comprises: a first rod member and a second rod member arranged along the first rod member, and the second rod member is directly or indirectly connected to the first rod member. A method for modifying a frame unit for a rotary-wing aircraft, characterized in that, in the connecting step, one end of the first rod member is connected to the second frame member using the frame connecting structure, and in the rotor mounting step, the rotor is attached to at least one of the first high-strength frame member and the second high-strength frame member such that the portion where the first rod member and the second rod member are connected lies on the rotation axis of the rotor.

15. The method for modifying a frame unit for a rotary-wing aircraft according to claim 14, wherein the rotor is movable along at least one of the first high-strength frame member and the second high-strength frame member, and in the rotor mounting step, the rotor is moved such that the portion where the first rod member and the second rod member are directly or indirectly connected lies on the rotation axis of the rotor.

16. A frame unit for a rotary-wing aircraft, comprising a first rod member, a second rod member arranged along the first rod member, and a rotor provided on at least one of the first rod member and the second rod member, wherein the portion where the first rod member and the second rod member are directly or indirectly connected lies on the rotation axis of the rotor.

17. The rotor comprises a one-sided rotor provided on the first rod member and a other-sided rotor provided on the first rod member, wherein the portion where the first rod member and the second rod member are directly or indirectly connected lies on the rotation axis of the one-sided rotor and the rotation axis of the other-sided rotor, as described in claim 16.

18. The frame unit for a rotorcraft according to claim 17, comprising a connecting structure for connecting the first rod member and the second rod member, wherein the connecting structure is provided continuously or intermittently from the rotation axis of one rotor to the rotation axis of the other rotor.

19. The frame unit for a rotary-wing aircraft according to claim 18, characterized in that the first rod member and the second rod member are arranged in a vertical or horizontal direction.

20. The frame unit for a rotary-wing aircraft according to claim 19, characterized in that the first rod member and the second rod member have a hollow structure or a solid structure.

21. The rotor comprises a first rotor provided on the first rod member and a second rotor provided on the second rod member, wherein the portion where the first rod member and the second rod member are directly or indirectly connected lies on the rotation axis of one rotor and the rotation axis of the other rotor, as described in claim 16.

22. The frame unit for a rotorcraft according to claim 21, characterized in that the rotation axis of the first rotor and the rotation axis of the second rotor are on the same straight line.

23. The frame unit for a rotorcraft according to claim 21, further comprising a connecting structure for connecting the first rod member and the second rod member, wherein the connecting structure is provided continuously or intermittently from the rotation axis of the first rotor to the rotation axis of the second rotor.

24. The frame unit for a rotary-wing aircraft according to claim 23, characterized in that the first rod member and the second rod member are arranged in a vertical or horizontal direction.

25. The frame unit for a rotary-wing aircraft according to claim 24, characterized in that the first rod member and the second rod member have a hollow structure or a solid structure.

26. A rotary-wing aircraft characterized by comprising a rotary-wing aircraft frame unit according to any one of claims 1 to 3 or 16 to 26.

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