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WO2007138727A1 - Grue aérienne type aérostat - Google Patents

Grue aérienne type aérostat Download PDF

Info

Publication number
WO2007138727A1
WO2007138727A1 PCT/JP2006/324373 JP2006324373W WO2007138727A1 WO 2007138727 A1 WO2007138727 A1 WO 2007138727A1 JP 2006324373 W JP2006324373 W JP 2006324373W WO 2007138727 A1 WO2007138727 A1 WO 2007138727A1
Authority
WO
WIPO (PCT)
Prior art keywords
airship
slip ring
type aerial
rotor blade
blade
Prior art date
Application number
PCT/JP2006/324373
Other languages
English (en)
Japanese (ja)
Inventor
Masahiko Onda
Masaaki Sano
Masaki Watanabe
Original Assignee
National Institute Of Advanced Industrial Science And Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by National Institute Of Advanced Industrial Science And Technology filed Critical National Institute Of Advanced Industrial Science And Technology
Publication of WO2007138727A1 publication Critical patent/WO2007138727A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/06—Rigid airships; Semi-rigid airships
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/06—Rigid airships; Semi-rigid airships
    • B64B1/24—Arrangement of propulsion plant
    • B64B1/30—Arrangement of propellers
    • B64B1/34—Arrangement of propellers of lifting propellers

Definitions

  • the present invention relates to an airship type aerial crane in which a crane is mounted on an airship and cargo can be lifted and transported safely at low cost.
  • Patent Document 1 discloses a technology that enables a cargo to be carried by mounting a crane on an airship.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2004-249954
  • Such an airship type crane can be called a “new industrial machine”, and it is initially operated by flying in a limited space rather than allowing it to fly freely in any airspace like an aircraft with a type certificate. It can be thought of as a force to hold down costs.
  • the limited space is, for example, an airspace where airplanes do not fly and an altitude of about 150 m or less, and within this height limit, there are only an aerial crane operator and a small number of workers. Assuming flight over the sea and lakes.
  • the present invention is an airship-type aircraft that can carry cargo in a wide range of fields, such as gathering trees in mountainous areas, inexpensively, safely, and with simple operations.
  • the main purpose is to provide a medium crane.
  • an airship type aerial crane includes an airframe filled with a levitation gas, propulsion devices provided on the left and right sides of the airframe, and on both sides of the airframe.
  • a suspension arm provided rotatably on each fulcrum that has the same vertical position as the floating center on the same vertical line as the floating center of the fuselage, and each propulsion unit has a drive arm that extends radially from the drive shaft.
  • a plurality of rotor blades rotatably supported at the ends of the rotor blades, and a rotor blade inclination adjusting member that makes it possible to adjust the inclination of the rotor blades in relation to each other. It is characterized by adjusting the inclination of the rotor blades to change the propulsion direction and moving the aircraft arbitrarily.
  • another airship type aerial crane is the airship type aerial crane, wherein the rotary blade inclination adjusting member is provided with one slip ring that is arbitrarily movable.
  • a support plate that rotates around the slip ring, and a control arm that rotatably connects each rotor blade and the support plate at both ends, and the plurality of rotations by the movement of the slip ring.
  • the wing inclination can be adjusted in relation to each other.
  • another airship type aerial crane is the airship type aerial crane, wherein the support portion by the driving arm of the rotary wing is a portion in which the aerodynamic center and the center of gravity of the rotary wing coincide with each other It is characterized in that the driving arm receives the aerodynamic load of the rotor blade and the inertial load force due to centrifugal force.
  • another airship type aerial crane is the airship type aerial crane, wherein a center of gravity of the rotor blade is supported by a support portion by a driving arm of the rotor blade, and the rotor blade inclination adjusting member. It is characterized by being configured to be located between the coupling portion.
  • FIG. 1 is a schematic view of an embodiment of an airship type aerial crane according to the present invention, (a) is a side view, and (b) is a rear view.
  • FIG. 2 is an operation diagram during pitch angle control of the airframe in the same embodiment.
  • Fig. 3 is an operation diagram at the time of angle control of the airframe in the same embodiment.
  • FIG. 4 is an operation diagram during vertical movement control of the airframe in the same embodiment.
  • FIG. 5 is an operation explanatory view of a cycloidal propeller used in the present invention.
  • FIG. 6 An enlarged view of the central portion of the cycloidal * propeller.
  • FIG. 7 is a view showing various operation modes of the cycloidal * propeller.
  • FIG. 8 is an explanatory view of a support structure of the cycloidal * propeller.
  • FIG. 10 is a graph showing the relationship between the wing attack angle human lift coefficient C1 and the resistance coefficient Cd in the cycloidal * propeller.
  • FIG. 11 This is a graph showing the results of calculating lift and resistance when the peripheral speed of a single blade is 25 m / s for the same cycloidal * propeller.
  • FIG. 12 A graph showing the lift of each propeller with seven propulsion blades in the same cycloidal propeller, and the combined values shown.
  • FIG. 13 is a graph showing lift versus power characteristics when the rotational speed is changed.
  • the present invention provides an airship-type aerial crane capable of carrying cargo in a wide range of fields including tree gathering in mountainous areas at low cost, safely and with simple operation.
  • the issue of providing the front and back of the aircraft filled with levitation gas and the left and right of the aircraft Each propulsion unit provided on the both sides of the fuselage, and a suspension device pivotably provided at each fulcrum where the buoyancy point and the horizontal position are in the same position on the same vertical line as the buoyancy point of the fuselage.
  • the machine includes a plurality of rotor blades rotatably supported on an end of a drive arm extending radially from the drive shaft, and a rotor blade inclination adjusting member that can adjust the inclination of the rotor blades in relation to each other. This is realized by adjusting the inclination of the rotor blade by the rotor blade inclination adjusting member to change the propulsion direction and moving the airframe arbitrarily.
  • the airframe 1 is a spheroid for utilizing the buoyancy of levitation gas such as helium to be filled, or a cylindrical gas sac with rounded front and rear ends.
  • the gas sac was supported on the same vertical line as the buoyancy center P of the fuselage 1, and the horizontal position of the buoyancy P was almost the same position, and was supported by a fulcrum that can be swung in the longitudinal direction of the fuselage 1.
  • Support arms 6 are attached to the left and right sides of the fuselage, rods 7 are fixed to the lower ends of the support arms 6, and cranes such as ropes 8 are connected to the rods 7.
  • the hanging tool 8 includes a winch 9, and the winch 9 can scrape the rope 11 having the hook 10 at the lower end.
  • a suspended load on the ground is hung on the hook 10 and the posture is controlled from one point on the ground or in the air to another point by the propeller using the cycloidal propeller as described above.
  • It can be an airborne crane that can be moved to a point.
  • a reinforcing member 13 is appropriately provided at the mounting portion of the support arm 6 that receives a large force in the machine body 1.
  • the rise and fall in the horizontal position is performed with the thrust of all cycloidal * propellers directed up or down.
  • the propulsion of the airframe 1 in the middle direction of each attitude angle can be performed by directing the thrust direction of the cycloidal propeller in that direction.
  • the airship type aerial crane has a four-wheel drive system, and the suspended fulcrum of the suspended load is almost matched with the buoyancy point P of the floating gas air bag. Among the functions, it can maintain the function to freely control the pitch angle of the airframe attitude of the airship type aerial crane, which is involved in the ascending movement that is most important for flight safety.
  • the airframe body of the airship type aerial crane has a pressurized membrane structure, it is almost close to the shell structure, and the load force can be kept to the minimum only in the direction of the surface of the structure. It is preferable to set the two points on the surface of the airframe 1, which is a buoyant gas sac, so that the load acts in-plane. An imaginary line connecting these two points passes near the buoyant point of the gas held in the air sac, making this imaginary line the central axis of the aircraft's pitch angle motion. The restraint moment due to buoyancy and suspended loads can be minimized.
  • this fulcrum can be placed anywhere on the surface of the gas sac
  • the flying motion function of the airship type aerial crane is safe and the buoyancy to control the aircraft pitch angle that supports the heaviest climbing performance. It is most preferable to determine the load moment force of the suspended load to be minimized.
  • As an ascent function there is also a method of ascending and moving the airship type aerial crane with the airframe in a horizontal position, but the lateral movement of the airframe in this horizontal position maximizes the drag of the airframe. , Disadvantageous.
  • a cycloidal propeller used for an airship type aerial crane as described above is, for example, illustrated in FIG.
  • each of the blades 20 consisting of two-dimensional wings with symmetrical cross-sectional shapes are arranged on the surface F where the movement locus becomes a rotating cylinder in the illustrated example, and each of these rotating blades rotates in the rotation direction. All blades 20 are arranged on the rotating cylindrical surface F at equal intervals with the leading edge of the blades 20 facing. Times Each of the blades 20 has a driving arm 22 coupled to its aerodynamic center point via a pivot or bearing drive support 21, and the drive shaft of the center O is shown in the figure by this drive arm 22. It is driven to rotate by a lever or motor.
  • a control support portion 23 as another pivot is provided on the axis of symmetry S of each rotor blade 20, and with respect to the pivot of the control support portion 23,
  • One end of the control arm 26 is rotatably fixed.
  • the other end of the control arm 26 is arranged at a position that is separate from the rotation center O of the rotating cylindrical surface F and does not interfere with these rotating mechanisms.
  • Rotating fulcrums 25 are connected to support plates 27 that are rotatably supported with respect to the individual slip rings 24.
  • the rotation fulcrum 25 in the illustrated embodiment is arranged radially with respect to the center Q of the slip ring 24, and the slip ring 24 can be arbitrarily moved up and down and left and right by a separate mechanism not shown.
  • the slip ring 24 including the support plate 27 that supports the coupling point on the rotation center side of all the control arms 26 of each rotor blade 20 is used to rotate the rotor blade 20. Regardless, because the angle of attack of each rotor blade 20 is controlled by decentering it vertically and horizontally on the fuselage, the rotation of the rotor blades escapes via the slip ring 24, and the control operation on the left and right You can escape the rotary motion of the rotary blade 20 to.
  • the slip ring 24 is a force required for all control arms.
  • a slip ring installed to contain the drive shaft is used.
  • the control arm is swung on a flat support plate 27 attached to the slip ring 24 at a right angle to the rotation axis so as not to be coaxial with one slip ring 24.
  • the center of gravity of the rotor blade 20 is substantially aligned with the aerodynamic center of each rotor blade 20, and a bearing or pivot is placed at that point.
  • both the aerodynamic load of each rotor blade 20 and the inertial load force due to centrifugal force can be largely retained by the drive arm 22, so that the control arm 26 must be operated with low power. Will be able to.
  • FIG. 9 A calculation result of the operation of the cycloidal propeller as described above is shown together with a graph.
  • the airfoil is NACA-0012, and the relationship between the angle of attack a and the rotation angle ⁇ of Fig. 5 is shown in Fig. 9.
  • the relationship between the angle of attack ct, the lift coefficient CI, and the anti-coefficient Cd is shown in Fig. 10.
  • Figure 11 shows the calculation results of lift and drag when the peripheral speed of a single blade is 25 m / s.
  • the lift for one propulsion unit with seven propulsion blades is calculated for each blade and is shown in Fig. 12 together with the combined values shown as totals in the figure.
  • the resistance of a single wing consists of a wing fluctuation component (23 to 35N) and a constant component (16N) of the supporting rod, and the maximum value of the combined drag of the seven blades was about 360N.
  • Figure 13 shows the lift vs. power characteristics when the rotation speed is changed.
  • the airship-type aerial crane according to the present invention as described above is (1) mountain forest 'transport and transport vehicle at sea' and cargo handling for work vessels. (2) Monitoring illegal dumping of industrial waste. (3) Disaster relief support and communication and monitoring base. (4) Urban security 'surveillance', (5) Lakes 'wilderness' surveillance in wilderness ⁇ Widespread use such as observation and collection work is expected.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Toys (AREA)
  • Jib Cranes (AREA)

Abstract

La présente invention concerne une grue aérienne type aérostat capable de transporter de façon non coûteuse et en sécurité des marchandises par simple opération dans une gamme importante de domaines, y compris la collection de troncs d'arbre dans une zone montagneuse. La grue aérienne type aérostat comporte un corps (1) rempli avec un gaz de levage, des hélices (2-5) agencées à l'avant et l'arrière de la gauche et la droite du corps (1), et un dispositif de suspension (8) fixé de façon rotative aux deux côtés du corps (1), au niveau de chaque point de support dont la position horizontale est la même que la position de force ascensionnelle du corps. Les hélices possèdent chacune des pales rotatives supportées de façon rotative au niveau de bras d'entraînement, qui s'étendent de façon radiale à partir d'un arbre d'entraînement, et possèdent également un élément de réglage d'inclinaison de pales rotatives capable de régler l'inclinaison des pales rotatives de manière à ce qu'elles soient associées les unes aux autres. L'élément de réglage d'inclinaison de pales rotatives possède une bague collectrice unique prévue de façon arbitrairement mobile, une plaque de support qui tourne autour de la bague collectrice, et des bras de commande qui relient, au niveau de ses deux extrémités, la plaque de support et chaque pale rotative. Le mouvement de la bague collectrice permet à l'inclinaison des pales rotatives d'être réglée arbitrairement pour manœuvrer le corps.
PCT/JP2006/324373 2006-05-29 2006-12-06 Grue aérienne type aérostat WO2007138727A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006147528A JP4628994B2 (ja) 2006-05-29 2006-05-29 飛行船型空中クレーン
JP2006-147528 2006-05-29

Publications (1)

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WO2007138727A1 true WO2007138727A1 (fr) 2007-12-06

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PCT/JP2006/324373 WO2007138727A1 (fr) 2006-05-29 2006-12-06 Grue aérienne type aérostat

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JP (1) JP4628994B2 (fr)
WO (1) WO2007138727A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5445879B2 (ja) * 2010-06-11 2014-03-19 国立大学法人大阪大学 トロコイド駆動機構
RU2748809C1 (ru) * 2020-06-01 2021-05-31 Федеральное государственное образовательное учреждение высшего образования "Санкт-Петербургский университет Государственной противопожарной службы Министерства Российской Федерации по делам гражданской обороны, чрезвычайным ситуациям и ликвидации последствий стихийных бедствий" Способ энергообеспечения и монтажа объектов в экстремальных условиях и аэромобильная установка для его осуществления

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101682573B1 (ko) * 2015-12-04 2016-12-05 한국항공대학교산학협력단 무인 항공기용 화물 고정 보조 장치
ES2971634T3 (es) * 2017-11-13 2024-06-06 Totalenergies Onetech Aeronave híbrida y procedimiento de montaje y/o mantenimiento relacionado

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04310497A (ja) * 1991-04-05 1992-11-02 Mitsubishi Heavy Ind Ltd 飛行船
FR2716674A1 (fr) * 1994-02-28 1995-09-01 Electricite De France Elingage pour le transport de charges par hélicoptère.
JP2003212190A (ja) * 2002-01-23 2003-07-30 National Institute Of Advanced Industrial & Technology 有人飛行船
JP2004224147A (ja) * 2003-01-22 2004-08-12 National Institute Of Advanced Industrial & Technology サイクロイダル・プロペラの制御機構
DE102004017620A1 (de) * 2004-04-10 2005-10-27 Karnath, Günther Ein fliegendes Hospital

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004249954A (ja) * 2003-02-21 2004-09-09 Daigo Fukumoto ユニット型多目的飛行船

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04310497A (ja) * 1991-04-05 1992-11-02 Mitsubishi Heavy Ind Ltd 飛行船
FR2716674A1 (fr) * 1994-02-28 1995-09-01 Electricite De France Elingage pour le transport de charges par hélicoptère.
JP2003212190A (ja) * 2002-01-23 2003-07-30 National Institute Of Advanced Industrial & Technology 有人飛行船
JP2004224147A (ja) * 2003-01-22 2004-08-12 National Institute Of Advanced Industrial & Technology サイクロイダル・プロペラの制御機構
DE102004017620A1 (de) * 2004-04-10 2005-10-27 Karnath, Günther Ein fliegendes Hospital

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5445879B2 (ja) * 2010-06-11 2014-03-19 国立大学法人大阪大学 トロコイド駆動機構
RU2748809C1 (ru) * 2020-06-01 2021-05-31 Федеральное государственное образовательное учреждение высшего образования "Санкт-Петербургский университет Государственной противопожарной службы Министерства Российской Федерации по делам гражданской обороны, чрезвычайным ситуациям и ликвидации последствий стихийных бедствий" Способ энергообеспечения и монтажа объектов в экстремальных условиях и аэромобильная установка для его осуществления

Also Published As

Publication number Publication date
JP2007314095A (ja) 2007-12-06
JP4628994B2 (ja) 2011-02-09

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