JP2017063960A - Multi-copter toy - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a multi-copter toy that can be readily adjusted for flight characteristics and enhance amusement.SOLUTION: A multi-copter toy that flies unmanned includes: an airframe; and multiple rotary blade units mounted to the airframe. Each of the multiple rotary blade units has a motor and a rotary blade rotated by the motor. At least one of the multiple rotary blade units is mounted to the airframe so as to be adjustable for the angle thereof.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a multicopter toy that performs unmanned flight with a plurality of rotor blades.

  A multicopter toy that performs unmanned flight using a plurality of rotor blades can fly in various postures by controlling the output (for example, the number of revolutions) of each rotor blade. For example, in a quadcopter having four rotor blades, the attitude is controlled by the respective output balances of the two front and left rotor blades and the rear left and right rotor blades around the airframe.

  When such a multi-copter toy flies, the aircraft is tilted forward by increasing the output of the rear rotor against the front rotor, and the axes of the rotor blades are tilted forward together with the aircraft. Propulsion in the direction.

  Patent Document 1 discloses a drone including an integrated battery, a load support body, two arms, each arm having two rollers, a control module, a payload module, and a skid. This unmanned aircraft can be reconfigured to operate as an unmanned aerial vehicle, unmanned ground vehicle, unmanned (water) boat, or unmanned submersible depending on the type of arm to which it is attached.

  Further, in this drone, each propeller is slightly inclined with respect to the tip at a pitch angle slightly offset downward from the horizontal. This prevents the rear end of the control module from entering the field of view behind and below the payload during hovering. Further, since the body flies in a horizontal state during forward flight in cruise flight, it is possible to fly forward while minimizing wind resistance.

Special table 2013-53573 gazette

  However, the conventional multicopter toy is not configured so that the user (operator) can easily adjust the flight characteristics. For this reason, there is a problem that the flight characteristics cannot be set according to the operator's preference or the adjustment according to the power performance cannot be performed, and the preference is lacking.

  An object of this invention is to provide the multicopter toy which can adjust a flight characteristic easily and can improve preference.

  In order to solve the above problems, the present invention is a multicopter toy for unmanned flight, comprising a fuselage and a plurality of rotor units attached to the fuselage, each of the plurality of rotor units being a motor and , And at least one of the plurality of rotary blade units is attached to the airframe so as to be adjustable in angle.

  According to such a configuration, the angle of at least one of the plurality of rotary wing units can be adjusted with respect to the fuselage, the flight characteristics of the multicopter toy can be set according to the preference of the operator, and the power performance can be improved. Can be adjusted accordingly.

  The multi-copter toy according to the present invention further includes a joint frame attached to the fuselage and a clamp for fixing the joint frame to the fuselage at a predetermined angle, and two of the plurality of rotary blade units are joint frames. It may be connected to both ends. Thereby, angle adjustment of two rotary blade units can be performed simultaneously by rotating a joint frame.

  In the multicopter toy according to the present invention, the joint frame may be attached to the machine body so as to be adjustable in angle at a predetermined pitch. As a result, the two rotary blade units can be adjusted with respect to the airframe at a predetermined angle and at an accurate angle via the joint frame.

  The multicopter toy of the present invention may further include a servo mechanism that is driven based on a control signal sent from the controller, and the rotor unit may be rotatably provided by the servo mechanism. As a result, the operator can remotely adjust the angle of the rotary blade unit via the servo mechanism by a control signal sent from the controller.

  The multi-copter toy according to the present invention may further include a control board provided on the aircraft and having a sensor used for posture control, and the control board may be attached to the aircraft so that the angle can be adjusted. Thereby, the angle of the control board can be adjusted in accordance with the angle of the rotor unit with respect to the fuselage, and the reference position for attitude control can be adjusted to the angle of the rotor unit.

  The multi-copter toy of the present invention further includes a control board provided on the aircraft and having a sensor used for posture control, and the control board has a function of setting a reference of an angle with respect to the horizontal direction of the aircraft. Good. Thereby, the reference position for posture control can be adjusted to the angle of the rotor unit without changing the angle of the control board.

  ADVANTAGE OF THE INVENTION According to this invention, the flight characteristic of a multicopter toy can be adjusted easily and it becomes possible to provide a multicopter toy with high preference for a pilot.

It is a perspective view which illustrates the multicopter toy concerning an embodiment. (A) And (b) is an expansion perspective view of a clamp part. (A) And (b) is a schematic diagram which illustrates the flight attitude | position by rotation angle adjustment of a rotary wing unit. (A) And (b) is a schematic diagram illustrated about angle adjustment of a control board. It is a schematic diagram which illustrates a reference | standard setting button. It is a schematic diagram illustrated about adjustment of the attachment width | variety of a rotary blade unit. (A)-(c) is a schematic diagram illustrated about adjustment of the inclination-angle of a rotary blade unit. (A) And (b) is a schematic diagram illustrated about the gravity center balance adjustment of a multicopter toy. It is a perspective view which shows the example of angle adjustment of the rotary blade unit by a servo mechanism.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same members are denoted by the same reference numerals, and the description of the members once described is omitted as appropriate.

(Configuration of multicopter toy)
FIG. 1 is a perspective view illustrating a multicopter toy according to an embodiment.
The multicopter toy 1 according to the present embodiment is a toy that flies unmanned by remote control of a pilot. The multicopter toy 1 includes a body 10 and a plurality of rotary wing units 20 attached to the body 10. Each of the plurality of rotary blade units 20 includes a motor 21 and a rotary blade 23 rotated by the motor 21.

  The multi-copter toy 1 shown in FIG. 1 is a so-called quad-copter type including four rotary wing units 20. The rotor unit 20 is provided on each of the front left and right and the rear left and right. Depending on the balance of the output of the rotary wings 23 provided in each rotary wing unit 20, it is possible to take flight postures such as forward, backward, ascending, descending, left-right rotation, and left-right turn.

  A gear 22 is provided between the motor 21 and the rotary blade 23 in the rotary blade unit 20, and the rotation of the motor 21 is transmitted to the rotary blade 23 via the gear 22. The rotary blade 23 may be configured to rotate directly by the motor 21 without the gear 22 being interposed. The rotor unit 20 is provided with a hub 25. The rotor unit 20 is connected to the joint frame 30 via the hub 25.

  The joint frame 30 is a cylindrical frame and is arranged so as to extend in the left-right direction of the body 10. The rotary blade unit 20 is attached to both ends of the joint frame 30 via the hub 25. The hub 25 and the joint frame 30 may be fixed by screws or may be fixed by fitting.

  The joint frame 30 is fixed to the airframe 10 by a clamp 40. When the fixing by the clamp 40 is loosened, the joint frame 30 can be rotated about the axis, and after setting the desired angle, the rotation angle of the joint frame 30 can be fixed by tightening the clamp 40.

  By rotating the joint frame 30 about the axis, the two rotary blade units 20 at both ends rotate together with the joint frame 30, and the angle of the rotary blade unit 20 with respect to the airframe 10 is adjusted.

  In the present embodiment, joint frames 30 are provided in front of and behind the airframe 10 and are fixed by clamps 40, respectively. Two front blade units 20 are attached to both ends of the front joint frame 30, and two rear blade units 20 are attached to both ends of the rear joint frame 30.

  The rotation of each joint frame 30 may be independent or interlocked. If each joint frame 30 rotates independently, each of the front and rear rotor units 20 can be adjusted to different angles with respect to the airframe 10. If each joint frame 30 rotates in conjunction with each other, the angle of the other rotary blade unit 20 is also adjusted in accordance with the angle of one of the front and rear rotary blade units 20.

  In the example shown in FIG. 1, two rotary blade units 20 are provided in one joint frame 30, but two joint frames 30 are provided coaxially, and the rotary blade unit 20 is provided at the end of each joint frame 30. The structure which attaches may be sufficient. For example, the structure which divided | segmented the joint frame 30 between the two clamps 40 which fix the one joint frame 30 shown in FIG. Thereby, the rotary blade unit 20 can be rotated independently for each joint frame 30.

  The body 10 is provided with a control board 50. The control board 50 includes a receiving unit that receives a control signal transmitted from the controller of the operator, a calculation unit that calculates the output of each motor 21 based on the control signal, and a sensor that detects the attitude of the body 10 (for example, a gyro sensor). , Barometric pressure sensor, ultrasonic sensor). The control board 50 may be attached to the machine body 10 so that the angle can be adjusted.

  A battery BT is attached below the body 10. In addition, a skid 15 serving as a leg for landing may be provided on the lower side of the body 10.

FIGS. 2A and 2B are enlarged perspective views of a clamp portion.
As shown in FIG. 2A, the clamp 40 has an upper clamp portion 41 and a lower clamp portion 42. Each of the upper clamp part 41 and the lower clamp part 42 is provided with a recess for sandwiching the joint frame 30.

  The lower clamp part 42 is fixed to the body 10. The upper clamp part 41 is fixed to the lower clamp part 42 with, for example, screws 45. With the upper clamp part 41 removed, the joint frame 30 is placed in the recess of the lower clamp part 42, and the upper clamp part 41 is placed over the joint frame 30 and fixed with the lower clamp part 42 and the screw 45. . Thereby, the joint frame 30 is clamped between the lower clamp part 42 and the upper clamp part 41.

  In the clamp 40 shown in FIG. 2A, tightening is weakened by loosening the screw 45, and the joint frame 30 can be rotated around the axis. The joint frame 30 can be rotated at an arbitrary angle around the axis, and is fixed to the angle by tightening the screw 45.

  In the clamp 40 shown in FIG. 2B, the concave and convex inner surfaces 40a of the upper clamp portion 41 and the lower clamp portion 42 are provided with irregularities (spline processing) with a predetermined pitch. Similar unevenness (spline processing) is also applied to the surface 30a of the joint frame 30 in contact with the clamp 40. As a result, the angle of the joint frame 30 is adjusted at an uneven pitch around the axis. Therefore, the joint frame 30 can be rotated at an accurate angle according to this pitch, and the angle of the rotary blade unit 20 with respect to the fuselage 10 can also be adjusted accurately.

  As described above, in the multicopter toy 1 according to the present embodiment, the rotary wing unit 20 is attached to the fuselage 10 so that the angle of the rotary wing unit 20 can be adjusted, so that the flight characteristics of the multicopter toy 1 are matched to the operator's preference. Can be set and adjusted according to the power performance.

(Rotation angle adjustment of rotor unit)
Next, specific rotation angle adjustment of the rotary blade unit 20 (rotation angle adjustment around the axis of the joint frame 30) will be described.
FIGS. 3A and 3B are schematic views illustrating the flight posture by adjusting the rotation angle of the rotor unit.
FIG. 3A illustrates a flight posture when the rotation angle of the rotor unit 20 is not adjusted. When the rotation angle of the rotary blade unit 20 is not adjusted, the rotary axis z23 of the rotary blade 23 coincides with the axis (normal axis z10) in the airframe 10. In order to fly the multicopter toy 1 forward F in this state, it is tilted downward (tilt forward) in front of the aircraft 10. If the normal axis z10 is inclined by the angle θ1 with respect to the vertical axis z1 due to this inclination, the rotation axis z23 of the rotary blade 23 is also inclined by the angle θ1. As the rotation axis z23 of the rotary wing 23 is inclined, the multicopter toy 1 obtains a propulsive force forward F and flies forward F.

  However, when the multicopter toy 1 flies forward F, the air resistance received at the front surface increases as the inclination of the fuselage 10 increases. This increase in air resistance hinders flight speed.

  FIG. 3B illustrates a flight posture when the angle of the rotary wing unit 20 is adjusted. When the angle of the rotary blade unit 20 is adjusted, the rotary axis z23 of the rotary blade 23 does not coincide with the normal axis z10 of the airframe 10. In the example shown in FIG. 3B, the rotary axis z <b> 23 of the rotary vane 23 is inclined by the angle θ <b> 1 with respect to the normal axis z <b> 10 of the fuselage 10 by rotating the rotary vane unit 20 with respect to the fuselage 10.

  In this state, even if the airframe 10 is horizontal (the normal axis z10 and the vertical axis z1 coincide with each other), the multicopter toy 1 obtains a propulsive force forward F and flies. That is, since the rotation axis z23 of the rotary blade 23 is inclined at an angle θ1 in advance, a propulsive force corresponding to the angle θ1 is generated, and the aircraft body 10 can fly forward F without tilting forward.

  That is, if the propulsive force is obtained when the rotation axis z23 of the rotor blade 23 is inclined at an angle θ1, the aircraft 10 can be caused to fly forward F without being inclined forward, and the aircraft 10 is inclined forward. In comparison, the air resistance received at the front surface can be reduced.

  In addition, when it is desired to obtain a propulsive force larger than the propulsive force according to the inclination of the angle θ1, the body 10 is inclined forward. However, even in this case, since the forward tilt of the fuselage 10 can be reduced as compared with the case where the angle of the rotary wing unit 20 is not adjusted, it is possible to reduce air resistance due to flight.

  The operator can adjust the angle of the rotary wing unit 20 according to the normal flight speed of the multicopter toy 1 and the preference. For example, when the normal flight speed of the multicopter toy 1 is relatively high, the forward tilt of the fuselage 10 at the normal flight speed is suppressed by increasing the rotation angle of the rotary wing unit 20, and the air By reducing the resistance, a smoother flight can be realized.

(Control board angle adjustment)
4A and 4B are schematic views illustrating the angle adjustment of the control board.
FIG. 4A shows a state in which the control board 50 is inclined with respect to the body 10. For example, when the rotor unit 20 is inclined by the angle θ1 with respect to the airframe 10, the control board 50 may be inclined with respect to the airframe 10 by the angle θ1.

  As described above, the control board 50 is provided with a gyro sensor and the like used for posture control. When the reference of the horizontal position is determined by the gyro sensor provided on the control board 50 in the multicopter toy 1, the angle of the control board 50 is adjusted in accordance with the angle adjustment of the rotary blade unit 20, whereby the horizontal by the gyro sensor is adjusted. The rotation axis z23 of the rotary blade 23 can be set to be perpendicular to the position reference.

  FIG. 4B shows a state where the multicopter toy 1 is lifted (hovered). In this example, the rotor unit 20 and the control board 50 are inclined by the angle θ1 with respect to the body 10. The reference of the horizontal position by the gyro sensor is the surface 50a of the control board 50 (the surface on which the gyro sensor is mounted). Therefore, when the multicopter toy 1 is floated and autonomously controlled to be horizontal, control is performed to keep the surface 50a of the control board 50 inclined by the angle θ1 horizontal.

  Since the control board 50 is inclined with respect to the machine body 10, the machine body 10 is inclined by the angle θ1 when the surface 50a of the control board 50 is set as a horizontal reference. Further, since the rotation axis z23 of the rotary blade 23 is perpendicular to the surface 50a of the control board 50, no propulsive force acts in any direction. Therefore, the multicopter toy 1 is maintained in a floating (hovering) state.

FIG. 5 is a schematic view illustrating the reference setting button.
In the example shown in FIG. 5, a button 55 for setting a reference for an angle with respect to the horizontal direction of the multicopter toy 1 is provided. The button 55 is provided on the control board 50, for example. When the button 55 is pressed, the control board 50 sets the position of the multicopter toy 1 at that time as a reference for the angle with respect to the horizontal direction.

  For example, when the rotary blade unit 20 is rotated and the rotation axis z23 of the rotary blade 23 is inclined by the angle θ1 with respect to the body 10, the multicopter toy is arranged so that the rotation axis z23 is vertical (the rotary blade 23 is horizontal). 1 is held and the button 55 is pressed in this state. The control board 50 changes the setting so that the detected value of the gyro sensor when the button 55 is pressed is the origin. This detection value is stored in a nonvolatile memory or the like. As a result, the state in which the body 10 is inclined by the angle θ <b> 1 is a reference for the horizontal position of the multicopter toy 1. According to the setting of the horizontal reference by pressing the button 55 as described above, the floating (hovering) state of the multicopter toy 1 can be maintained without tilting the control board 50 even when the rotor unit 20 is rotated. Can do.

(Adjustment of installation width of rotor unit)
FIG. 6 is a schematic view illustrating the adjustment of the attachment width of the rotary blade unit.
The rotary blade unit 20 is attached to both ends of the joint frame 30. That is, the rotary blade unit 20 is attached to the joint frame 30 via the hub 25. If the mounting position of the hub 25 and the joint frame 30 can be adjusted in the direction along the axis of the joint frame 30 (axial direction), the two rotary blade units 20 attached to both ends of the joint frame 30 are provided. The width (interval T1-T2) can be adjusted.

  For example, the hub 25 and the joint frame 30 are fixed with screws. By loosening this screw, the axial mounting position of the joint frame 30 of the hub 25 is adjusted, and the screw is tightened after the adjustment. Thereby, the space | interval (T1-T2) of the two rotary blade units 20 attached to the both ends of the joint frame 30, ie, the space | interval (width) of the two rotary blades 23, can be expanded or narrowed.

  In the example shown in FIG. 6, only one of the two joint frames 30 is adjusted for the attachment position of the rotary blade unit 20 and the joint frame 30, but can be adjusted in both of the two joint frames 30. It may be. By adjusting the distance (width) between the two rotor blades 23, the flight characteristics of the multicopter toy 1 can be adjusted.

  For example, as the interval (width) between the two rotor blades 23 increases, the stability of the multicopter toy 1 in flight improves. On the other hand, the agility of the multicopter toy 1 is improved as the distance (width) between the two rotor blades 23 is reduced. The operator can set the flight characteristics of the multicopter toy 1 according to his / her preference with the sensation of adjusting the distance (tread) between the left and right tires of the automobile.

  If the mounting position of the rotary blade unit 20 can be adjusted in the axial direction of the joint frame 30, the distance between the two rotary blades 23 is adjusted when the size (rotational diameter) of the rotary blade 23 is changed. be able to. For example, when the rotor blades 23 are changed to large rotor blades 23, it is possible to prevent the two rotor blades 23 from interfering with each other by increasing the distance between the two rotor blade units 20.

(Inclination angle adjustment of rotor unit)
Next, the inclination angle adjustment (angle adjustment with respect to the axis of the joint frame 30) of the rotary blade unit 20 will be described.
FIGS. 7A to 7C are schematic views illustrating the adjustment of the inclination angle of the rotary blade unit.
In Fig.7 (a)-(c), the schematic diagram seen from the front of the multicopter toy 1 is represented. FIG. 7A illustrates the flight posture when the inclination angle of the rotor unit 20 is not adjusted. When the inclination angle of the rotary blade unit 20 is not adjusted, the rotary axis z23 of the rotary blade 23 is perpendicular to the axis of the joint frame 30.

  On the other hand, FIGS. 7B and 7C illustrate the flight posture when the inclination angle of the rotor unit 20 is adjusted. In the example shown in FIG. 7B, each of the two rotor blade units 20 attached to both ends of the joint frame 30 is inclined at an angle θ2 with respect to an axis perpendicular to the axis of the joint frame 30 (frame vertical axis z35). doing. That is, when viewed from the front of the multicopter toy 1, the rotation axis z23 of the left rotary wing 23 is inclined clockwise by an angle θ2 with respect to the frame vertical axis z35, and the rotation axis z23 of the right rotary wing 23 is the frame vertical axis. The angle θ2 is inclined counterclockwise with respect to z35.

  On the other hand, in the example shown in FIG. 7C, each of the two rotary blade units 20 is inclined at an angle θ3 with respect to the frame vertical axis z35. That is, when viewed from the front of the multicopter toy 1, the rotation axis z23 of the left rotary blade 23 is inclined counterclockwise by the angle θ3 with respect to the frame vertical axis z35, and the rotation axis z23 of the right rotary blade 23 is the frame vertical axis. The angle θ3 is inclined clockwise with respect to z35.

  In order to enable such inclination adjustment, the connection portion between the end of the joint frame 30 and the hub 25 may be a hemispherical connection (ball joint BJ). In addition, by using such a ball joint BJ, each rotor unit 20 can be independently adjusted with respect to the joint frame 30 at various angles.

  By adjusting the inclination angle of the rotary wing unit 20, the flight characteristics of the multicopter toy 1 can be adjusted. For example, as shown in FIG. 7B, when the left and right rotary blade units 20 are inclined, the spread of wind force by the rotary blades 23 is increased, and the left and right turn characteristics of the multicopter toy 1 are stabilized. On the other hand, when the left and right rotary blade units 20 are inclined as shown in FIG. 7C, the spread of wind power by the rotary blades 23 is reduced, and the left and right turn characteristics are agile. That is, the operator can set the flight characteristics of the multicopter toy 1 according to his / her preference as if adjusting the camber of the automobile.

(Center of gravity balance adjustment)
FIGS. 8A and 8B are schematic views illustrating the center-of-gravity balance adjustment of the multicopter toy.
8A and 8B show a state where the rotation angles of the rotary blade units 20 are reversed by 180 degrees. That is, with respect to the rotary blade unit 20 shown in FIG. 8A, the rotary blade unit 20 shown in FIG. 8B is in a state of being rotated 180 degrees around the axis of the joint frame 30. 8 (a) and 8 (b), in order to make the direction of ascent and descent of the multicopter toy 1 the same, the rotating blade 23 is rotated when the rotating blade unit 20 is rotated 180 degrees. It is necessary to reverse the pitch.

  In the example shown in FIG. 8A, the rotating surface S <b> 23 of the rotor blade 23 is below the center of gravity CG of the fuselage 10. On the other hand, in the example shown in FIG. 8B, the rotation surface S <b> 23 of the rotor blade 23 is above the center of gravity CG of the airframe 10. Here, the center of gravity CG is the center of gravity in a state where members such as the control board 50, the battery BT, and the skid 15 are attached to the body 10.

  In this way, the flight angle of the multi-copter toy 1 is adjusted by changing the rotational angle of the rotary wing unit 20 by 180 degrees and changing the positional relationship between the rotary surface S23 of the rotary wing 23 and the center of gravity CG of the fuselage 10. can do. For example, as shown in FIG. 8A, when the rotational surface S23 of the rotor blade 23 is below the center of gravity CG of the airframe 10, the flight stability of the multicopter toy 1 is reduced, but the agility is improved. On the other hand, as shown in FIG. 8B, when the rotational surface S23 of the rotor blade 23 is above the center of gravity CG of the airframe 10, the flight characteristics of the multicopter toy 1 are improved, but the agility is reduced. That is, the pilot can set the flight characteristics of the multicopter toy 1 to his liking by changing the positional relationship between the center of gravity CG of the fuselage 10 and the rotation surface S23 of the rotor blade 23.

(Angle adjustment by servo mechanism)
FIG. 9 is a perspective view showing an example of angle adjustment of the rotary blade unit by the servo mechanism.
The servo mechanism 60 attached to the airframe 10 is remotely operated by a control signal transmitted from the operator's controller. The drive of the servo mechanism 60 is transmitted to the joint frame 30. That is, the rotation of the joint frame 30 is remotely operated by the servo mechanism 60.

  The servo mechanism 60 is connected to the joint frame 30 via a transmission mechanism such as a link, a belt, or a wire. Thereby, the drive of the servo mechanism 60 is transmitted to the joint frame 30, and the joint frame 30 can be rotated around the axis at a desired angle. Note that the rotation of the two joint frames 30 may be linked by one servo mechanism 60.

  By using such a servo mechanism 60, the operator can rotate the rotor unit 20 during the flight of the multicopter toy 1. That is, the operator can adjust the rotation angle of the rotary wing unit 20 according to his / her preference while operating the multicopter toy 1.

  As described above, according to the embodiment, it is possible to easily adjust the flight characteristics of the multicopter toy 1, and it is possible to provide the multicopter toy 1 having a high preference for the operator.

  In addition, although this embodiment and its application example were demonstrated above, this invention is not limited to these examples. For example, it is only necessary to be able to adjust the rotation angle of at least one of the plurality of rotor blade units 20, and the adjustment operation of the rotor blade unit 20 is not limited to adjusting the rotation and inclination separately, You may make it adjust by uniting inclination. In this embodiment, a quad copter having four rotor blades 120 has been described as an example, but the present invention can be applied to a multi-copter toy 1 having rotor blades 23 other than four. In addition, the above-described embodiment or application examples thereof, where a person skilled in the art appropriately added, deleted, or changed a design, or a combination of the features of each embodiment as appropriate, also includes the gist of the present invention. As long as it is included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Multicopter toy 10 ... Airframe 15 ... Skid 20 ... Rotary blade unit 21 ... Motor 22 ... Gear 23 ... Rotary blade 25 ... Hub 30 ... Joint frame 30a ... Surface 40 ... Clamp 40a ... Concave inner surface 41 ... Upper clamp part 42 ... Lower clamp 45 ... Screw 50 ... Control board 50a ... Surface 55 ... Button 60 ... Servo mechanism BJ ... Ball joint BT ... Battery CG ... Center of gravity S23 ... Rotating surface z1 ... Vertical axis z10 ... Normal axis z23 ... Rotating axis z35 ... Frame Vertical axis

Claims (6)

A multicopter toy that flies unattended,
The aircraft,
A plurality of rotor units attached to the airframe;
With
Each of the plurality of rotary blade units includes a motor and a rotary blade rotated by the motor,
The multi-copter toy according to claim 1, wherein at least one of the plurality of rotary blade units is attached to the airframe so as to be adjustable in angle. A joint frame attached to the airframe;
A clamp that fixes the joint frame to the airframe at a predetermined angle; and
The multi-copter toy according to claim 1, wherein two of the plurality of rotary blade units are connected to both ends of the joint frame.   The multi-copter toy according to claim 2, wherein the joint frame is attached to the body so as to be adjustable in angle at a predetermined pitch. It further comprises a servo mechanism that is driven based on a control signal sent from the controller,
The multi-copter toy according to any one of claims 1 to 3, wherein the rotor unit is rotatably provided by the servo mechanism. Further comprising a control board provided on the aircraft and having a sensor used for attitude control;
The multicopter toy according to any one of claims 1 to 4, wherein the control board is attached to the airframe so as to be adjustable in angle. Further comprising a control board provided on the aircraft and having a sensor used for attitude control;
The multi-copter toy according to any one of claims 1 to 5, wherein the control board has a function of setting a reference of an angle with respect to a horizontal direction of the airframe.

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