JP2014076676A - Unmanned helicopter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To constitute compactly in a small size, a machine body of an unmanned helicopter for industrial use used for dispersing agricultural chemicals, while securing a large pay-load space, and to improve operability.SOLUTION: A gear box motor unit 6 including a main mast, a servo and a motor is arranged on the center of a machine body frame 5 formed of a pipe section as a main material, and a motor control box 7 and a servo control box 8 are arranged on the front and the rear respectively. Then, each unit is fixed and supported on the machine body frame 5, and each battery unit 10, 10 is arranged on the outside of the machine body frame 5 respectively, and both battery units 10, 10 are connected to the right and left pipe materials of the machine body frame 5, fixed integrally and supported.

Description

  The present invention relates to a structure of an unmanned helicopter fuselage that flies by remote control or autonomous control.

  Industrial unmanned helicopters used for spraying agricultural chemicals, etc. are equipped with a large output engine to ensure the payload (loading capacity) necessary for spraying agricultural chemicals, and the aircraft is about 3 meters in length. It is formed, and it is comprised so that the spreading | diffusion apparatus of a chemical | medical solution and a granule can be attached to the lower side of a body (for example, refer patent document 1).

  In addition, with recent improvements in the performance of small electric motors and batteries, remote control helicopters (hereinafter referred to as R / C helicopters) as so-called sports helicopters that enjoy flight control outdoors are equipped with electric motors. Things are commercialized and widely used.

JP 2009-196486 A

  The unmanned helicopter with the above configuration is normally stored in a predetermined place, and when spraying pesticides, the aircraft is loaded together with the spraying device on the loading platform of the transport vehicle and transported to the pesticide spraying site. Although the pesticide spraying operation is carried out by assembling the spraying device on the fuselage, since the fuselage is large, there is a large space for storage and loading on the loading platform, and the work of moving and loading on the loading platform There was a problem that it was difficult to handle and the convenience of handling was bad.

  Also, in industrial unmanned helicopters, the adoption of an electric motor as a drive source in place of a gasoline engine is being studied. In this case, the airframe configuration similar to that of a sports helicopter equipped with the electric motor, that is, the main mast is used. If the battery is arranged at the bottom of the fuselage, which is directly underneath, a large payload space cannot be secured, and there is a problem in mounting the spraying device, and it is difficult to replace the battery.

  In view of such problems of the prior art, the present invention is an unmanned industrial helicopter used for spraying agricultural chemicals, etc., and the airframe equipped with an electric motor as a power source is compact and compact while ensuring a large payload space. It is an object of the present invention to improve the operability by improving the convenience of handling the aircraft and replacing the battery.

In order to solve the above problems, the unmanned helicopter of the present invention is
A plurality of pipes extending in parallel in the front-rear direction of the fuselage respectively arranged on the left and right sides of the fuselage are integrally fixed to a pipe connection plate spanned between the left and right sides of the fuselage to constitute a fuselage frame,
A gear box motor unit having a main mast, servo, and motor in the center of the machine frame, a motor control box containing a motor control circuit before and after the gear box motor unit, and a servo containing a servo control circuit. Each control box is arranged, and these units are supported on the body frame by suspending them on the left and right pipes of the body frame and fixing them together.
Battery units are arranged on both the left and right sides of the gear box unit and outside the body frame, and both battery units are connected to the right and left pipes of the body frame and fixed integrally with the battery unit. Thus, the structure is supported on both sides of the body frame.

  Further, the unmanned helicopter having the above-described configuration is a coaxial inversion R / C helicopter having upper and lower main rotors that rotate on the same axis and reverse to each other.

According to the unmanned helicopter of the present invention, the units constituting the fuselage are integrally attached to the fuselage frame assembled in a frame shape with the pipe material as the main material so that the unit is supported on the fuselage frame, and extends to both sides of the fuselage. A pair of battery units are arranged, and both battery units are integrally attached to the left and right sides of the fuselage frame, so the fuselage is configured, so the entire lower part of the fuselage can be used as a payload space, and the payload space is narrow Therefore, the airframe can be made small and compact without making it easier.
In addition, the battery unit is mounted on both sides of the fuselage at the left and right sides of the gearbox unit equipped with the main mast, so it can be easily attached and detached for replacement, and can be operated by an unmanned helicopter. There is no risk of performance degradation. If the unmanned helicopter is a coaxial reversal type that has upper and lower main rotors that rotate on the same axis in the reverse direction, the overall length of the aircraft can be made shorter than that of a single rotor type, and the configuration of the aircraft can be made more compact. Become.
Thus, while ensuring a large payload space, the unmanned helicopter fuselage is configured in a compact and compact manner, without reducing the functionality required for pesticide spraying, etc. The convenience of handling such as loading and unloading is improved, and the operability of an unmanned helicopter used for industrial use can be improved.

It is the front view and side view of an unmanned helicopter of one embodiment of the present invention. 2 is a front perspective view and a rear perspective view of the aircraft with the cowl of the unmanned helicopter removed (the battery unit on the left side of the aircraft located on the front side in the drawing is tilted so that the mounting portion of the aircraft frame can be seen. ). It is the external view which expanded and showed the structural member of the airframe which removed the battery unit. It is an expansion appearance perspective view of an airframe which removed a battery unit. It is an expansion external view of a body frame. It is an external view of the state which separated one battery unit from the body frame.

A preferred embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows the appearance of an embodiment of the unmanned helicopter according to the present invention. As shown in the figure, the unmanned helicopter 1 has a coaxial reversing R / C having upper and lower main rotors that rotate on the same axis. The present invention is applied to a helicopter. In the figure, reference numeral 2 is a front cowl, 3 is a rear cowl, and 11 is a battery unit which will be described later.

  2 is a front and rear perspective view of the body of the unmanned helicopter 1 with the front and rear cowls 2 and 3 removed, FIG. 3 is an enlarged external perspective view of the body with the battery unit removed, and FIG. 4 is an exploded view of the members constituting the body. As shown in each drawing, the airframe 4 includes a gear box motor that constitutes the airframe 4 on a airframe frame 5 that is formed by integrally connecting pipes respectively arranged on the left and right sides of the airframe 4. The unitized members such as the unit 6, the motor control box 7, the servo control box 8, the skid 9, and the battery unit 10 are integrally attached.

  Specifically, as shown in FIG. 5, the fuselage frame 5 is made of an aluminum pipe having an outer diameter of 30 mm and a wall thickness of approximately 3 mm, which is arranged in parallel at an appropriate interval vertically on the left and right sides of the fuselage 4. A pair of upper tube members 51, 51 and lower tube members 52, 52, and two tube member connecting plates 53 made of aluminum members each having tube member attachment holes 53a, 53a, 53b, 53b formed at four corners thereof. 53, two pipe connection plates 54 and 54 having tube attachment holes 54a and 54a formed at both ends at the left and right ends, which are also made of an aluminum shape, a tube attachment hole 55a at one end, and a cowl fixing portion at the other end. It is formed by combining the members with the cowl fixing plates 55 and 55 having 55b. A plurality of hole portions 53c through which fixing screws for fixing the gear box motor unit 6 are inserted are formed in the upper surfaces of the pipe connecting plates 53, 53.

  The fuselage frame 5 is arranged with pipe connection plates 54 and 54 juxtaposed at appropriate intervals along the front-rear direction of the fuselage 4, and the left and right lower pipes 52 and 54a are inserted into the left and right pipe attachment holes 54a and 54a. 52. The left and right upper pipe members 51, 51 are respectively inserted into the left and right upper pipe attachment holes 54b, 54b and spanned between the two pipe connecting plates 54, 54, and the outer peripheral surfaces of the respective pipe members 51, 51, 52, 52 are provided. The tube attachment holes 53a, 53a, 53b, and 53b are fitted and fixed to the tube attachment holes 54a and 54a of the tube connection plates 54 and 54 outside the both tube connection plates 54 and 54. The pipe connection plates 54, 54 are bridged between the left and right lower pipes 52, 52 through the left and right lower pipes 52, 52, and the outer peripheral surfaces of both the lower pipes 52, 52 are fixed to the pipe attachment holes 54a, 54a with a fixing screw or the like. It is constructed by fitting fixed. The cowl fixing plates 55 and 55 are inside the pipe connecting plates 54 and 54, with the tube mounting holes 55b and 55b passing through the left and right upper tube members 51 and 51, and the cowl fixing portion 55b facing vertically upward. The pipe attachment hole 55b is fitted and fixed to the outer peripheral surface of the upper pipe 51 with a fixing screw or the like.

  The gear box motor unit 6 has upper and lower rotor heads 62 and 62 attached to both shaft portions of a mast 61 that are coaxially provided with shaft portions that rotate in opposite directions, and a main rotor 62a of both rotor heads 62 and 62. , 62a and upper and lower swash plates 63, 63 that change the angle of attack are connected via a swash linkage 64, respectively, and a servo 65 such as an elevator or aileron that operates both swash plates 63, 63, Driving devices such as an electric motor 66 for rotating upper and lower rotor heads 62, 62 connected to both rotary shaft portions of the mast 61, a motor cover 67 with a duct housing a motor fan for cooling the electric motor 66, and the like. The unit is integrally mounted on the bottom plate 68 of the unit.

The motor control box 7 houses the control circuit of the electric motor 66 in a flat aluminum housing, and has connecting pieces 71 having holes 71a through which the lower pipe member 52 of the body frame 5 is inserted on the left and right side surfaces of the housing. 71 are integrally provided.
The servo control box 8 accommodates the control circuit of each servo 65 in an aluminum casing, and includes a connecting piece 81 having holes 81a through which the lower pipe member 52 of the machine body frame 5 is inserted at the left and right edges of the bottom of the casing. Each is provided integrally. A control signal receiving device that is transmitted and output by operating the transmitter is also housed in the servo control box 8.
Further, the skid 9 is configured by providing attachment portions 91 and 91 with the pipe connecting plates 54 and 54 of the machine body frame 5 on the upper part thereof.

  The battery unit 10 is configured by housing a power storage circuit for storing electricity by connecting a power supply cable (not shown) to a commercial power supply terminal in a rectangular box-shaped casing, and on one side surface of the casing, A connecting tool 10a comprising engaging pieces 10b, 10b that engage with the outer peripheral surface of the lower pipe member 52 of the frame 5 and a hinged half-ring-shaped connecting member 10c that is fitted to the outer peripheral surface of the upper pipe member 51 is integrated. Is provided.

  Assembling the body 4 first, the gear box motor unit 6 is suspended from the upper part of the body frame 5 between the left and right upper pipes 51 and 51, and a plurality of pipe connection plates 53 and 53 are formed. A fixing screw (not shown) is passed through the portion 53c, and each fixing screw is screwed into a screw hole (not shown) provided in the lower portion of the gear box motor unit 6, and is fastened to both the tube material connecting plates 53 and 53 with the fixing screw. And fix them together.

  Next, the motor control box 7 is passed through the holes 71 a of the connection pieces 71, 71 projecting from the left and right sides of the motor control box 7, and the left and right lower pipe members 52, 52 behind the machine frame 5 are passed through the outer periphery of the lower pipe member 52. Fastened to the surface with fixing screws and fixed between the left and right lower pipes 52, 52. Similarly, the servo control box 8 is passed through the holes 81a of the connecting pieces 81, 81 projecting from the left and right edge portions of the bottom thereof, and the left and right lower pipe members 52, 52 in front of the machine frame 5 are passed through the two connecting pieces 81 at the lower part. Fastened to the outer peripheral surface of the pipe member 52 with a fixing screw and fixed between the left and right lower pipe members 52, 52. After both control boxes 7 and 8 are attached, electrical wiring is connected between the control circuits housed in the control boxes 7 and 8 and the driving devices.

Further, the skid 9 is applied to the lower side of the body frame 5, and the attachment portions 91, 91 provided on the upper part are fixed to the pipe connecting plates 54, 54 with fixing screws or the like.
Next, as shown in FIG. 6, the battery unit 10 is applied to the outside of the body frame 5 on the side of the gear box unit 6, and the engaging pieces 10 b of the coupling tool 10 a provided on the casing of the battery unit 10 are provided. 10b is engaged with the outer peripheral surface of the lower pipe member 52 of the fuselage frame 5, the connecting member 10c is fitted to the outer peripheral surface of the upper pipe member 51, and the connecting member 10c is fastened with a fixing screw to connect the upper and lower pipe members 51, 52 to each other. Secure to.

  The battery units 10 and 10 are fixed to the left and right sides of the body frame 5, and the electrical wiring connection between the battery units 10 and 10 and the electrical components such as the motor control box 7, the servo control box 8, and each servo 65 is performed. After that, the front and rear cowls 2 and 3 are attached from both the front and rear sides of the fuselage 4, and the two cowls 2 and 3 are fixed and connected to the cowl fixing portions 55b and 55b of the cowl fixing plates 55 and 55 with fixing screws or the like. As a result, the assembly of the airframe 4 is completed. The order in which the units are attached to the body frame 5 is not limited to the assembly procedure of the body 4.

  The unmanned helicopter 1 of the present embodiment configured as described above receives the operation signal of the transmitter by the receiving device, drives the electric motor 66 that is a drive source based on the operation signal, and operates each servo 65. It can be made to fly by remote control.

In the present embodiment, each unit constituting the airframe 4 is supported on the airframe frame 5 and a pair of battery units 10 and 10 are arranged so as to project on both sides of the airframe 4. Since the fuselage 4 is integrally mounted on the left and right sides of the frame 5, the entire lower part of the fuselage 4 can be used as a space for payload, and the fuselage 4 is opposite to each other along the main mast 61. Since it is a coaxial reversal type with the upper and lower main rotors 62 and 62 rotating, the tail rotor is not required, the overall length of the airframe 4 is shortened, and the airframe 4 can be made compact and compact without reducing the payload space. Can be configured.
In addition, since the battery units 10 and 10 are attached to project from both sides of the airframe 4 at the positions on the left and right sides of the gear box unit 6 equipped with the main mast 61, the attachment and detachment work for replacement is easy. There is no possibility that the maneuvering performance of the unmanned helicopter 1 is lowered.

  The illustrated form is an example, and the present invention can be applied to other appropriate forms of an electric unmanned helicopter. The present invention is suitable for an industrial unmanned helicopter, but may be applied to a sports helicopter equipped with an electric motor. In the embodiment, the present invention is applied to a coaxial inversion type R / C helicopter, but the present invention is also applicable to a single rotor type R / C helicopter and a helicopter flying by autonomous control.

1 unmanned helicopter, 2, 3 cowl, 4 fuselage, 5 fuselage frame, 51 upper pipe, 52 lower pipe, 53, 54 pipe connection plate, 55 unit connection plate, 6 gear box motor unit, 7 motor control box, 8 servo control Box, 9 skids, 10 battery units

In order to solve the above problems, the unmanned helicopter of the present invention is
A plurality of pipes extending in parallel in the front-rear direction of the fuselage respectively arranged on the left and right sides of the fuselage are integrally fixed to a pipe connection plate spanned between the left and right sides of the fuselage to constitute a fuselage frame,
A gear box motor unit having a main mast, servo, and motor in the center of the machine frame, a motor control box containing a motor control circuit before and after the gear box motor unit, and a servo containing a servo control circuit. Each control box is arranged, and these units are supported on the body frame by suspending them on the left and right pipes of the body frame and fixing them together.
Battery units are arranged on both the left and right sides of the gear box unit and outside the body frame, and both battery units are connected to the right and left pipes of the body frame and fixed integrally with the battery unit. Thus, the structure is supported on both sides of the body frame.
That is, in the unmanned helicopter of the present invention, the fuselage frame has juxtaposed pipe connection plates with tube attachment holes formed at the four corners at appropriate intervals along the front-rear direction of the fuselage. The lower pipe material made of a cylindrical pipe is inserted into the lower pipe material attachment hole, the upper pipe material made of a cylindrical pipe is inserted into the left and right upper tube material attachment holes, and the outer peripheral surface of each pipe material is fitted and fixed to each tube material attachment hole. The upper pipe member and the lower pipe member, which are bridged between both pipe connecting plates and arranged in parallel vertically on the left and right sides of the aircraft, are integrally fixed to both pipe connecting plates.
The gear box motor unit comprising the main mast, servo and motor that make up the fuselage is configured with a screw hole at the bottom,
The motor control box containing the motor control circuit is configured by integrally providing a connection piece having a hole portion through which the lower pipe member is inserted in the housing,
A servo control box containing a servo control circuit is configured by integrally providing a connection piece having a hole portion through which the lower pipe material is inserted in the housing,
The gearbox motor unit is accommodated between the upper and lower upper pipes of the body frame, and fixing screws are fastened from a plurality of holes formed in both pipe connection plates in screw holes provided in the lower part of the gearbox motor unit. A gear box motor unit is fixed integrally between both pipe connecting plates,
The left and right lower pipes protruding from one pipe connecting plate of the fuselage frame are passed through the holes of the connection pieces of the motor control box, and the respective connection pieces are fastened to the outer peripheral surface of the lower pipe with fixing screws. A motor control box is fixed between the lower pipes,
The left and right lower pipes projecting from the other pipe connection plate of the fuselage frame are passed through the holes of the connection pieces of the servo control box, and the respective connection pieces are fastened to the outer peripheral surface of the lower pipe with fixing screws. A motor control box is fixed between the lower pipes,
A battery unit is arranged on both the left and right sides of the gear box unit and outside the fuselage frame, and both battery units are integrated by connecting connectors provided on the side portions thereof to the upper and lower pipe members on the left and right sides of the fuselage frame. It is characterized by having a configuration in which it is supported on both sides of the body frame by being fixed to.

Specifically, as shown in FIG. 5, the fuselage frame 5 is made of aluminum having an outer diameter of 30 mm and a wall thickness of approximately 3 mm, which are arranged vertically in parallel on the left and right sides of the fuselage 4 with an appropriate vertical spacing. A pair of upper pipe members 51, 51 and lower pipe members 52, 52 made of pipes, and two pipe member connecting plates made of aluminum shape members having pipe member attachment holes 53a, 53a, 53b, 53b formed in four corners on the upper, lower, left and right sides, respectively. 53, 53, two pipe connecting plates 54, 54 having tube attachment holes 54a, 54a formed at both ends at the left and right ends, which are also made of aluminum, a tube attachment hole 55a at one end, and a cowl at the other end. It is formed by combining the members with the cowl fixing plates 55 and 55 having the fixing portion 55b. A plurality of hole portions 53c through which fixing screws for fixing the gear box motor unit 6 are inserted are formed in the upper surfaces of the pipe connecting plates 53, 53.

Body frame 5, while juxtaposed the tube connecting plate 53 by opening the appropriate intervals along the longitudinal direction of the vehicle body 4, the lower tube member 52 of the left and right left and right lower side of the tube mounting hole 53a, to 53a, 52, the left and right upper tube members 51, 51 are respectively inserted into the left and right upper tube attachment holes 53b, 53b and spanned between the two tube connecting plates 53, 53, and the outer peripheral surfaces of the respective tube members 51, 51, 52, 52 are provided. each tube mounting holes 53a in such fixing screws, 53a, 53b, as well as force-fit to 53b, on the outside of both the tubing connecting plate 53, tubing mounting hole portion 54a of the tube connecting plate 54, the 54a The pipe connection plates 54, 54 are bridged between the left and right lower pipes 52, 52 through the left and right lower pipes 52, 52, and the outer peripheral surfaces of both the lower pipes 52, 52 are fixed to the pipe attachment holes 54a, 54a with a fixing screw or the like. It is constructed by fitting fixed.
The cowl fixing plates 55, 55 are inside the pipe connecting plates 53 , 53 , with the pipe mounting holes 55a, 55a being passed through the left and right upper pipes 51, 51 and the cowling fixing portion 55b being directed vertically upward. The tube attachment hole 55a is fitted and fixed to the outer peripheral surface of the upper tube 51 with a fixing screw or the like.

The motor control box 7 houses the control circuit of the electric motor 66 in a flat aluminum housing, and has connecting pieces 71 having holes 71a through which the lower pipe member 52 of the body frame 5 is inserted on the left and right side surfaces of the housing. 71 are integrally provided.
The servo control box 8 accommodates the control circuit of each servo 65 in an aluminum casing, and has connecting pieces 81 having holes 81a through which the lower pipe member 52 of the machine body frame 5 is inserted in the left and right edges of the casing bottom . 81 are integrally provided. A control signal receiving device that is transmitted and output by operating the transmitter is also housed in the servo control box 8.
Further, the skid 9 is configured by providing attachment portions 91 and 91 with the pipe connecting plates 54 and 54 of the machine body frame 5 on the upper part thereof.

Next, the motor control box 7 is inserted into the holes 71a of the connection pieces 71 and 71 projecting from the left and right side surfaces thereof, and the left and right lower pipes 52 projecting from the one pipe connecting plate 53 of the machine frame 5 to the rear of the machine body 4 , 52, each connection piece 71 is fastened to the outer peripheral surface of the lower pipe member 52 with a fixing screw and fixed between the left and right lower pipe members 52, 52. Similarly, the servo control box 8 is inserted into the holes 81a of the connecting pieces 81, 81 projecting from the left and right edges of the bottom thereof, and the left and right protruding from the other pipe connecting plate 53 of the machine body frame 5 to the front of the machine body 4 The lower pipe members 52 and 52 are passed through, and both connecting pieces 81 are fastened to the outer peripheral surface of the lower pipe member 52 with fixing screws and fixed between the left and right lower pipe members 52 and 52. After both control boxes 7 and 8 are attached, electrical wiring is connected between the control circuits housed in the control boxes 7 and 8 and the driving devices.

1 unmanned helicopter, 2, 3 cowl, 4 aircraft, 5 aircraft frame, 51 upper tube, 52 lower tube, 53, 54 tube connection plate, 55 cowl fixing plate , 6 gearbox motor unit, 7 motor control box, 8 servo control Box, 9 skids, 10 battery units

Claims (2)

A plurality of pipes extending in parallel in the front-rear direction of the fuselage respectively arranged on the left and right sides of the fuselage are integrally fixed to a pipe connection plate spanned between the left and right sides of the fuselage to constitute a fuselage frame,
A gear box motor unit having a main mast, servo, and motor in the center of the machine frame, a motor control box containing a motor control circuit before and after the gear box motor unit, and a servo containing a servo control circuit. Each control box is arranged, and these units are supported on the body frame by suspending them on the left and right pipes of the body frame and fixing them together.
Battery units are arranged on both the left and right sides of the gear box unit and outside the body frame, and both battery units are connected to the right and left pipes of the body frame and fixed integrally with the battery unit. An unmanned helicopter having a configuration supported on both sides of the fuselage frame. The unmanned helicopter according to claim 1, wherein the helicopter is a coaxial reversing type remote control helicopter having upper and lower main rotors rotating in the opposite directions on the same axis.

Images