JP6550563B2 - Rotorcraft - Google Patents

Description

  The present invention relates to a rotorcraft having a plurality of rotors.

  For example, in various events such as sports and concerts, or in surveys of building equipment such as buildings and apartments, aerial photography using a rotary wing machine called a drone or multicopter may be performed. This type of rotary wing aircraft is being applied to fields such as luggage transportation as well as aerial photography applications. In Patent Document 1, a rotary wing machine having a plurality of rotary blades, a support unit installed vertically downward from the center of the rotary blade machine, a mounting unit installed at an end part vertically below the support unit, It has an anchored rope connected to the bottom of the mounting unit, one end of the anchored rope is connected to the vertical lower end of the mounting unit, and the other end of the anchored rope is locked on the ground. It is disclosed.

JP, 2013-79043, A

  In the attitude shown in FIG. 13, the rotary wing machine 1 floats upward by rotating each rotary wing P at the same rotational speed (exactly, the rotational speed per unit time, hereinafter the same). At this time, if the upper limit of the rotational speed level is assumed to be 10, for example, the rotational speed level at the time of ascent is 6 (numbers in parentheses in the figure, the same applies hereinafter). When the rotary wing aircraft 1 reaches a desired altitude, it stops in the air (hover) by lowering the rotational speed to such an extent that the lift by each rotary wing P balances with the gravity applied to the airframe. At this time, the rotational speed level is set to 5, for example. When the rotary wing aircraft 1 moves in the horizontal direction, the rotational speed of the rotary wing P which is forward in the forward direction is reduced (for example, the rotational speed level 3), and the rotary wing P which is backward in the forward direction Increase the number of rotations (for example, the number of rotations level 7). Thereby, as shown in FIG. 14, the rotary wing machine 1 moves in the direction of the arrow a while maintaining a posture inclined forward and downward toward the traveling direction. When the airframe of the rotorcraft 1 is inclined, for example, a rotational moment M by a heavy object G such as a camera is generated around the center U of lift, and therefore the traveling direction is to cancel this rotational moment M and maintain the same posture. It is necessary to increase the rotational speed of the rotary wing P behind the rotary wing P ahead.

  In Patent Document 1 (especially in FIGS. 7 and 8), by providing the joint member R, a mechanism capable of adjusting the heavy load G to be positioned vertically below the rotary wing aircraft 1 regardless of the attitude of the rotary wing aircraft 1 Is disclosed. However, even if such a mechanism is adopted, as shown in FIG. 14, since the joint member R supporting the heavy load G and the center U of the lift do not completely coincide with each other, the center of the lift also A rotational moment M around U will be generated not a little. Therefore, for example, the rotational speed level of the rotor blade P in the forward direction is set to 4 and the rotational speed level 6 of the rotor blade P in the rearward direction of the travel is set to 6 so that the rotational speed of both rotor blades is slightly different. There must be.

  In this way, when the rotor blade 1 travels in the horizontal direction, if there is a difference in the rotational speed between the front and rear rotor blades P in the traveling direction, the rotor blades in the rearward traveling direction over the period of movement in the horizontal direction. Since it is necessary to maintain the output of P in a high state, various problems such as occurrence of a failure due to, for example, heat generation of a motor can be considered.

  Therefore, the present invention aims to reduce the difference in the rotational speed between the front and rear rotor blades in the traveling direction when a rotorcraft having a plurality of rotor blades travels in a direction including the horizontal direction. And

  In order to solve the above problems, the present invention provides a plurality of rotor blades, an arm portion for supporting the plurality of rotor blades, a first mounting portion for mounting an object, and the first mounting portion moving within a predetermined range. A connecting portion that connects the first mounting portion to the arm portion in a possible state, and the center of lift generated in the airframe by the rotation of the plurality of rotor blades is located at the position of the connecting portion. To provide a rotary wing aircraft.

  In the above-described rotary wing machine, when moving in a direction including the horizontal direction, the rotational speed of the rotary wing located rearward in the traveling direction is increased more than the rotational speed of the rotary wing positioned forward in the traveling direction. Therefore, the attitude of the airframe is changed, and after the attitude of the airframe is changed, the difference between the rotational speed of the rotary wing forward in the traveling direction and the rotational speed of the rotary wing backward in the advancing direction is reduced. And may move in a direction including the horizontal direction.

  Further, in the rotary wing machine, the connection portion includes a second mounting portion disposed on the opposite side of the first mounting portion as viewed from the connection portion and connected to the first mounting portion. You may make it connect to the said arm part with a mounting part.

  The second mounting unit may be mounted with an antenna for receiving a positioning signal.

  The rotorcraft may be provided with a center of gravity moving mechanism for moving the center of gravity of the airframe.

BRIEF DESCRIPTION OF THE DRAWINGS The perspective view which shows the structure of the rotary wing aircraft which concern on one Embodiment of this invention. The side view of the rotary wing aircraft concerning the embodiment. The top view of the rotary wing aircraft which concern on the embodiment. A conceptual diagram explaining the center of lift. The side view showing the attitude change of the rotary wing aircraft concerning the embodiment. The conceptual diagram explaining the mechanical relationship in the rotary wing aircraft which concern on the same embodiment. The side view of the rotary wing aircraft concerning the modification of the present invention. The side view showing the attitude change of the rotary wing aircraft concerning the modification. The perspective view which shows the structure of the rotary wing aircraft which concern on another modification of this invention. The perspective view of the rotary wing aircraft which concern on another modification of this invention. The top view of the rotary wing aircraft which concern on the modification. The side view of the rotary wing aircraft concerning the modification. The side view of the conventional rotary wing aircraft. The side view when the conventional rotary wing aircraft moves horizontally. The side view when the conventional rotary wing plane which has an articulation member moves horizontally.

[Embodiment]
FIG. 1 is a perspective view showing a configuration of a rotary wing aircraft 10 according to an embodiment of the present invention, and FIG. 2 is a side view when the rotary wing aircraft 10 is viewed from the arrow X direction in FIG. FIG. 3 is a plan view of the rotary wing machine 10 as viewed from the direction of the arrow Y in FIG. In the present embodiment, a four-rotor type multicopter will be described as an example of a rotorcraft having a plurality of rotor blades.

  The central portion 15 of the rotary wing aircraft 10 is provided at the center of the rotary wing aircraft 10 when viewed from above. From the side surface of the central portion 15, four directions such that the four arm portions 14A, 14B, 14C, 14D are equally spaced, that is, the longitudinal direction of adjacent arm portions is 90 degrees, Is stretched. The arm portions 14A, 14B, 14C and 14D are means for supporting the rotary wings 11A, 11B, 11C and 11D, respectively. The arm portion 14A and the rotary wing portion 11A, the arm portion 14B and the rotary wing portion 11B, the arm portion 14C and the rotary wing portion 11C, and the arm portion 14D and the rotary wing portion 11D all have the same configuration. The configuration of the rotary wing 11A will be described as an example. In the present embodiment, the arm portions 14A, 14B, 14C, 14D are bent downward so as to avoid their movable ranges so as not to interfere with the rotary wings 12A, 12B, 12C, 12D, respectively. Although it has a shape, the shape illustrated in FIG. 1 is not necessarily required as long as it does not interfere with the rotor blades 12A, 12B, 12C, and 12D.

  The rotary wing portion 11A is attached to a tip end portion of the arm portion 14A which is far from the central portion 15. The rotary wing portion 11A includes a rotary wing 12A and a power unit 13A. The rotary wing 12A is a means for converting the output from the power unit 13A into a thrust of the rotary wing aircraft 10. In addition, although 12 A of rotary wings illustrated to the figure are 2 blade | wings, you may have 3 or more wings. The power unit 13A is, for example, a power generation unit such as an electric motor or an internal combustion engine. In this embodiment, two electric motors (right rotation motor and left rotation motor) having different rotation directions are used as the power units 13A, 13B, 13C, and 13D, and the power units 13A and 13C are left rotation motors. The power units 13B and 13D are right rotation motors. The power unit 13A is fixed to the arm unit 14A, and the rotation axis of the power unit 13A is fixed to the rotary wing 12A. As shown in FIG. 3, the rotary shafts of the rotary blade portions 11 </ b> A, 11 </ b> B, 11 </ b> C, and 11 </ b> D are arranged at equal intervals on a concentric circle centered on the central portion 15 when viewed from above.

  The first mounting unit 25 is a means for mounting an object. For example, the camera 28 for performing aerial photography, a drive mechanism (not shown) for changing the orientation of the camera, and a control for controlling the camera 28 and the drive mechanism. An object such as a device (not shown) is mounted. The control device controls a photographing operation of the camera 28, a pan operation for rotating the camera 28 left and right, and a tilt operation for tilting the camera 28 up and down. Furthermore, in the rotary wing aircraft 10, the attitude of the rotary wing aircraft 10 is grasped, such as a power source for driving the power units 13A, 13B, 13C, 13D, the camera 28 and the control device, a radio control receiver, For example, a leveling device (not shown) is mounted as necessary, but these may be mounted on the first mounting portion 25 or mounted in the space provided in the central portion 15 described above. May be. The control device may also be mounted in the space provided in the central portion 15.

  The connection portion 16 is fixed to the lower surface of the central portion 15. The connecting portion 16 connects the first mounting portion 25 to the arm portion 14A via the support rod 21 and the central portion 15 so that the first mounting portion 25 can move within a predetermined range with respect to the body of the rotary wing aircraft 10. , 14B, 14C, 14D. The connection part 16 is a joint mechanism such as a ball joint, for example, and rotatably supports the first mounting part 25 and the support rod 21. In the present embodiment, the connection portion 16 is within a substantially semispherical area below the rotary wing machine 10 and does not contact the arm portions 14A, 14B, 14C, and 14D, and the first mounting portion 25 and These are supported so that the support rod 21 can rotate. The connection portion 16 is fixed to the upper end of the support rod 21, and the first mounting portion 25 is fixed to the lower end thereof. Regardless of the attitude of the rotary wing machine 10, the support rod 21 and the first mounting portion 25 are maintained in a state suspended from the rotary wing machine 10 in the vertical direction by the action of gravity.

  The pilot operates the radio control transmitter equipped with the operation unit to steer the rotary wing aircraft 10. When the receiver receives the wireless signal transmitted from the transmitter, the control device of the rotary wing aircraft 10 of the rotary wing aircraft 10 such as the power units 13A, 13B, 13C, 13D, the camera 28, etc. based on the wireless signals. Control each part.

  Here, as shown in FIG. 4, the center C of the connection portion 16 coincides with the center U of the lift generated on the fuselage of the rotorcraft 10 by the rotation of the four rotors 12A, 12B, 12C, 12D. ing. Here, the center C of the connection portion 16 is an action point of the gravity applied to the support rod 21, the first mounting portion 25 and the object mounted on the first mounting portion 25 with respect to the connection portion 16. 16 is the center of rotation. The center of lift U is the point of action of the lift generated by the rotation of the rotor blades 12A, 12B, 12C, and 12D on the rotorcraft 10. More specifically, when the width in the short direction of each of the rotary wings 12A, 12B, 12C, 12D is d, each rotary wing 12A is located at a position d / n from the upper end in the width direction of each rotary wing. , 12B, 12C, and 12D (lifting force is applied, for example, 3). Then, the rotary blades 12A, 12B, 12C, and 12D are on a plane that passes through the position of d / n from the upper end in the width direction of the rotary blades 12A, 12B, 12C, and 12D, and the rotary blades 12A, 12B, 12C, and 12D shown in FIG. The center of the concentric circle through which the axis passes is the center of lift U.

  Thus, the center of lift U generated in the airframe of the rotary wing aircraft 10 is the point of gravity of the heavy object (the support rod 21, the first mounting portion 25, and the object mounted on the first mounting portion 25). Since it is located at the connection portion 16 that is the center of rotation, even if the body of the rotary wing aircraft 10 is tilted, gravity in the vertical direction due to heavy objects acts on the center U of lift. There is no rotational moment due to the gravity of the weight around the center U of lift.

  Next, the change in the attitude of the rotary wing aircraft 10 will be described with reference to FIG. When the operator performs an operation to raise the rotary wing aircraft 10 using the operation unit of the transmitter, the control of the control device according to this operation causes the number of rotations of the power units 13A, 13B, 13C, 13D to increase. The rotational speeds of the rotary wings 12A, 12B, 12C, 12D attached to the power units 13A, 13B, 13C, 13D also increase. As a result, the rotary wings 12A, 12B, 12C, 12D gradually generate the lift necessary to lift the rotary wing machine 10. When the lift exceeds the gravity applied to the rotary wing machine 10, the rotary wing machine 10 starts to float in the air and floats in the direction of arrow A as shown in FIG. At this time, for example, assuming that the upper limit of the level of the rotational speed of the rotary wings 12A, 12B, 12C, 12D is 10, the rotational speed level of each rotary wing 12A, 12B, 12C, 12D at this rise is 6, for example. Both have the same rotation speed.

  Then, when the rotary wing aircraft 10 arrives at a desired altitude, the pilot operates the transmitter and the rotational speeds of the rotary wings 12A, 12B, 12C, 12D so that the rotary wing aircraft 10 stops in the air (hovering). Adjust. That is, the number of rotations at this time is the number of rotations at which the lift force by the rotation of each of the rotary blades 12A, 12B, 12C, 12D balances the gravity applied to the rotary wing aircraft 10, and is, for example, the number of rotations level 5.

  Next, when the rotary wing aircraft 10 moves in the horizontal direction, the operator operates the transmitter to forward the rotational speed of the rotary wings 12B and 12C in the forward direction in the forward direction. The number of rotations of the rotary wings 12A and 12D is greater than that of the rotary wings 12A and 12D. At this time, for example, the rotational speed level of the rotor blades 12B and 12C at the rear is 6 and the rotational speed level of the rotor blades 12A and 12D at the front is 4. Thereby, the lift by the rotary wings 12B and 12C at the rear is larger than the lift by the rotary wings 12A and 12D at the front, and the position of the rotary wings 12B and 12C becomes higher than the position of the rotary wings 12A and 12D. Therefore, as shown in FIG. 5 (B), the airframe of the rotary wing aircraft 10 is inclined downward toward the front.

  As soon as this posture is reached, the operator operates the transmitter to adjust the rotational speed of each of the rotor blades A, 12B, 12C, 12D to a rotational speed that moves in the horizontal direction at a desired speed. For example, the rotational speed level of each of the rotary wings 12A, 12B, 12C, and 12D at this time is set to five. In the past, the attitude of the fuselage could not be maintained and horizontal movement could not be realized unless the rotational speed of the rotary wings located in the forward direction was greater than the rotational speed of the rotary wings located in the forward direction. In the present embodiment, the rotary wing machine 10 can be moved in the arrow B direction as shown in FIG. 5C while keeping the rotational speeds of the rotary blades 12A, 12B, 12C, and 12D the same.

  As shown in FIGS. 5 (B) and 5 (C), when the airframe of the rotorcraft 10 is in a posture inclined forward and downward toward the traveling direction, the gravity of the heavy objects below the support rod 21 is a connection As described above, the point of action of the gravity (the center C of the connecting portion 16) with respect to the connecting portion 16 coincides with the center U of the lifting force. For this reason, around the center U of lift, the rotation moment by the gravity of the weight below support rod 21 does not arise. Therefore, the rotational speeds of the respective rotary wings 12A, 12B, 12C, 12D may be kept the same.

  I will explain this dynamically. As shown in FIG. 6, the force acting on the center U of lift (the center C of the connecting portion) is determined by the weight mg of the load such as the support rod 21, the first mounting portion 25 and the camera 28 etc. , 12C, and 12D by the rotation F. The direction of the gravity mg is vertically downward, and the direction of the lift F is an upper direction orthogonal to a plane passing the position of d / n from the upper end in the width direction of each of the rotary wings 12A, 12B, 12C, 12. When the lift force F is decomposed into a component force F1 in a direction parallel to the direction of gravity mg and a component force F2 in a direction perpendicular to the direction of gravity mg, the component force F1 balances with the gravity mg and the component force F2 is a rotor It becomes a horizontal driving force of the aircraft 10. The component forces F1 and F2 move the rotorcraft 10 horizontally while maintaining its height.

  As described above, according to the present embodiment, when the rotary wing machine 10 travels in the horizontal direction, the difference between the rotational speeds of the front and rear rotors in the traveling direction is made smaller than in the past, for example The difference can be zero.

  If the difference in rotational speed between the forward and aft rotary blades in the direction of travel is smaller than in the prior art, the following advantages can be obtained. First, during the period in which the rotorcraft 10 moves in the horizontal direction, the output of the rotor behind the traveling direction is considerably higher than the output of the front in the traveling direction (high power only to cancel the rotational moment M conventionally generated) Therefore, if the power unit is a motor, the possibility of failure due to heat generation is reduced, and a downgraded power unit with lower output performance than before is used. There is room for it. As described above, if it is acceptable to downgrade the power unit, it is possible to reduce the weight and cost of the entire body of the rotary wing aircraft, and as a result, it is possible to enjoy the improvement of fuel efficiency and the economic merit.

  Also, when the rotational speeds of the forward and aft rotary blades are different as in the conventional case, the rotational speed of the forward rotary blades becomes relatively small, and the rear power section Even if the output is increased, a part of the output must be devoted to eliminating the rotational moment. As a result, the average rotational speed of all the rotor blades does not increase so much. For this reason, the traveling speed of the rotorcraft does not increase very much, and the weight of the heavy load that can be transported by the rotorcraft can not be too heavy. On the other hand, according to the present embodiment, the output of the power units 13A, 13B, 13C, 13D does not have to be used for canceling the rotational moment, and the ratio for allocating the output to the propulsive force of the rotorcraft is better than in the prior art. Can be increased. Thus, it contributes to the improvement of the traveling speed of the rotary wing aircraft, and also makes it possible to transport heavier loads.

  In addition, in the case of a transportation application where a load is transported by a rotary wing machine, the load is separated in the air above the destination and dropped to the destination, in the conventional configuration, at the moment when the load is disconnected from the rotary wing machine, As the rotational moment M decreases rapidly by an amount corresponding to the weight of the load, and further, there is a difference between the rotational speed levels forward and backward in the traveling direction, the behavior of the rotorcraft's fuselage becomes extremely unstable. On the other hand, according to the present embodiment, no rotational moment is generated, and there is no difference in the rotational speed level forward and backward in the traveling direction, so there is no room for the rotational moment to change even if the load is separated. The above problems do not occur.

[Modification]
The above embodiment may be modified as follows.
[Modification 1]
You may make it provide the gravity center moving mechanism which moves the gravity center of the body of a rotary wing aircraft. FIG. 7 is a side view of a rotary wing aircraft 10A according to a first modification, and FIG. 8 is a side view showing a change in the attitude of the rotary wing aircraft 10A. The connecting portion 16A connects the second mounting portion 26 disposed on the opposite side of the first mounting portion 25 as viewed from the connecting portion 16A to the arm portions 14A, 14B, 14C, 14D together with the first mounting portion 25. . The second mounting part 26 is connected to the first mounting part 25 via a support bar 21 and a support bar 22. The second mounting unit 26 may be mounted with an antenna or the like for receiving a signal for positioning (for example, a GPS signal) as well as a power supply, a receiver, a control device, or a horizontal unit. The support rod 21 and the support rod 22 are one rod-like member extending in one direction, and a ball joint or the like within a range not interfering with the arm portions 14A, 14B, 14C, 14D and the rotary wings 11A, 11B, 11C, 11D. With the connecting portion 16A as the center, it can swing with respect to the airframe.

  Further, the first mounting portion 25, the second mounting portion 26, and the support rods 21 and 22 can be moved up and down with respect to the connecting portion 16A by, for example, a rack and pinion mechanism provided in the connecting portion 16A. . When the first mounting portion 25 and the second mounting portion 26 are lowered downward (in the direction of arrow f) by this vertical movement mechanism, the weight on the first mounting portion 25 side when viewed from the connection portion 16A is on the second mounting portion 26 side. It will be heavier than its weight. As a result, the position of the center of gravity of the rotorcraft 10A is lowered. In this case, regardless of the attitude of the rotary wing machine 10, due to the action of gravity, the first mounting part 25 is positioned below the rotary wing machine 10 in the vertical direction and the second mounting part 26 is positioned above the rotary wing machine 10 in the vertical direction. Can maintain the position. On the other hand, when the first mounting portion 25 and the second mounting portion 26 are moved upward (in the direction of arrow e) by this vertical movement mechanism, the weight on the second mounting portion 26 side as viewed from the connection portion 16A is the first mounting portion. It becomes heavier than the weight on the 25 side, and the position of the center of gravity of the rotorcraft 10A will rise. That is, the connecting portion 16A, the first mounting portion 25, the second mounting portion 26, and the support rods 21 and 22 constitute a center of gravity moving mechanism that moves the center of gravity of the body of the rotary wing aircraft.

  According to the first modification, as shown in FIG. 8, the rotary wing aircraft 10A is horizontally oriented while keeping the rotational speeds of the respective rotary wings 12A, 12B, 12C, 12D the same, by the same control as the above embodiment. Can be moved to. Furthermore, when an antenna for receiving a positioning signal (for example, a GPS signal) is mounted on the second mounting portion 26, the weight on the first mounting portion 25 side as viewed from the connection portion 16A is greater than the weight on the second mounting portion 26 side. In the heavy state, the direction of the antenna can always be kept constant (that is, the antenna is always directed upward in the vertical direction), so that the directivity and gain of the antenna can be kept constant. Furthermore, the position of the center of gravity of the rotary wing machine 10A can be changed by moving the first mounting part 25, the second mounting part 26, and the support rods 21 and 22 up and down with respect to the connection part 16A. The change is effective in maintaining the attitude of the rotary wing machine 10 when any of the rotary wing parts 11A, 11B, 11C, 11D fails. Specifically, if the center of gravity of the body of the rotorcraft 10A is brought close to the rotor blade that has failed and stopped, the center of gravity of the body is moved and the attitude of the body is changed. It is possible to continue the flight.

[Modification 2]
In the embodiment and the modified example 1 described above, the first mounting portion 25 or the second mounting portion 26 can freely rotate and move about the connection portions 16 and 16A by the action of gravity. A power unit such as a motor or an auxiliary propeller may be used and actively controlled according to the operation of the operator. For example, in the case of the above embodiment, a rotary wing machine and a drive mechanism for driving the drive mechanism such that the support rod 21 is variable with respect to the arm portions 14A, 14B, 14C, 14D starting from the connection portion 16 Set to 10 When the pilot operates the transmitter and the rotary wing aircraft 10 arrives at the desired altitude, the rotational speed of the rotary wings 12B and 12C at the rear in the traveling direction is higher than the rotational speed of the rotary wings 12A and 12D at the front in the traveling direction By increasing the number, the attitude of the rotary wing aircraft 10 is inclined forward and downward in the direction of travel, and the first mounting portion 25 is positioned below the connecting portion 16 in the vertical direction using the drive mechanism according to the inclination. To control. This control may be performed manually by the operator, or the control device of the rotary wing aircraft 10 may be automatically performed according to the tilt of the rotary wing aircraft 10 based on a predetermined control algorithm. Further, the first mounting portion 25 is provided with two auxiliary propellers that generate propulsion in two directions orthogonal to each other when viewed from above, and the position of the first mounting portion 25 is controlled by the propulsion by the auxiliary propeller. It is also good.
As described above, the connection portion may be connected to the arm portion so that the first mounting portion can move by gravity, or the connection portion is connected to the arm portion so that the first mounting portion can be moved by the power portion. You may

[Modification 3]
In the first modification, when the weight on the side of the first mounting portion 25 and the weight on the side of the second mounting portion 26 as viewed from the connection portion 16A are equal to each other, as shown in FIG. When moving, the posture of the support bar 21 and the support bar 22 can be kept horizontal. In this case, for example, when the camera 28 is mounted on the second mounting unit 26, the imaging direction of the camera 28 is the traveling direction of the rotary wing aircraft 10. For example, the rotary wings 12A fall within the imaging range of the camera 28 The possibility of getting in the way can be reduced. In addition, in the case where the postures of the support rods 21 and the support rods 22 are horizontal, air resistance of the airframe when advancing in the horizontal direction may be reduced compared to the case where the postures of the support rods 21 and the support rods 22 are vertical. It becomes possible.

[Modification 4]
The structure of the rotary wing machine is not limited to that illustrated in the embodiment, and may be a structure as shown in FIGS. The rotorcraft 10B according to the fourth modification is configured such that an arm portion 141 supporting the rotary wing portions 11A, 11B, 11C, and 11D has a rectangular shape when viewed from above. The connecting portion 16B is rotatable about a horizontal y-axis orthogonal to the x-axis and a frame 161 connected to the arm 141 by the rotation shaft 1621 so as to be rotatable about the horizontal x-axis. A frame body 162 connected to the frame body 161 with pins 1611 is provided. A damper 171 is provided between the arm portion 141 and the frame 161 to suppress rotational movement of the frame 161 about the x-axis, and a frame 162 is provided between the frame 161 and the frame 162. A damper 172 is provided that suppresses the rotational movement around the y-axis. The dampers 171 and 172 have a long time for displacement so that the attitude of the rotary wing aircraft 10B does not become unstable due to the rotational movement of the frames 161 and 162 and the first mounting portion 25 being rapidly displaced. It is a means to

[Modification 5]
The present invention is applicable not only to the case where the rotary wing aircraft travels in the horizontal direction but also to the case where the rotary wing aircraft travels in a direction including the horizontal direction (that is, a direction having a horizontal vector component). That is, even if the component force F1 in the direction parallel to the direction of the gravity mg described in FIG. 6 is larger or smaller than the gravity mg, the difference between the rotational speeds of the respective forward and It can be made smaller than that.

[Modification 6]
The power supply does not have to be mounted on the rotorcraft, and for example, the power supply may be installed on the ground and a power supply cable extending from the power supply may be connected to the rotorcraft to supply power. In addition, if the altitude is about 15 m, a contactless power transmission receiver may be installed at the central portion, the first mounting portion, or the second mounting portion, and wireless power may be supplied to the rotary wing from the ground.

10, 10A, 10B ... rotary wing aircraft, 11A, 11B, 11C, 11D ... rotary wing parts, 12A, 12B, 12C, 12D ... rotary wings, 13A, 13B, 13C, 13D ... power parts, 14A, 14B, 14C, 14D, 141 ... arm portion, 15 ... central portion, 16, 16A, 16B ... connection portion, 161, 162 ... frame body, 21, 22 ... support rod, 25 ... first mounting portion, 26 ... second mounting portion, 28 …camera

Claims (4)

With multiple rotors,
An arm portion for supporting the plurality of rotor blades;
A first mounting unit for mounting an object,
A support rod connected to the first mounting portion;
A rotary wing machine comprising: a connecting portion that connects the support rod to the arm portion so that the first mounting portion is movable within a predetermined range;
The connection portion is a point of gravity acting on the support rod, the first mounting portion, and the object mounted on the first mounting portion, and the lift generated in the airframe by the rotation of the plurality of rotor blades. I am in the same position as the center ,
Rotorcraft. The rotorcraft according to claim 1, wherein
The rotary wing aircraft, wherein the connection portion is at least at a peristaltic center of the support rod. The rotary wing aircraft according to claim 1 or 2, wherein
The connection portion is configured to be vertically movable with respect to the support bar.
Rotorcraft. A rotary wing aircraft according to claim 3, wherein
A rotary wing machine characterized in that the center of gravity of the rotary wing aircraft is displaced downward by moving the joint portion upward with respect to the support bar by the vertical movement of the joint portion.