JP6869521B2 - Drone device - Google Patents

Description

The present invention relates to a drone device .

For example, Patent Document 1 discloses a vertical take-off and landing airplane (drone) having a gimbal mechanism, an outer frame forming a polyhedron, and an inner frame, and being controlled by a control system. According to the vertical take-off and landing airplane disclosed in Patent Document 1, when the airplane comes into contact with an obstacle, the outer frame and the gimbal mechanism absorb the impact, so that the flight can be continued even if the airplane comes into contact with the obstacle.

International Publication No. 2014/1987774

In the vertical takeoff and landing airplane in Patent Document 1, the outer frame is composed of a beam (rod-shaped member) and a joint member connecting the beams. For this reason, the strength of the area where the beams are connected is smaller than that of the surrounding area, and the vertical takeoff and landing airplane will be affected by an external force such as an impact when falling or contacting an obstacle from the joint member. The beam may come off. Further, when the outer frame comes into contact with the electric wire or the like, a current may flow through the entire outer frame and the electric wire may be short-circuited.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to improve the strength and safety of a joint member.

In order to solve the above problems, the drone device according to the first aspect of the present invention includes a drone main body and a guard member surrounding the drone main body, and the guard member includes a plurality of rod-shaped members and the drone. It has a plurality of joint members for connecting a plurality of the rod-shaped members so as to surround the periphery of the main body, and the joint member connects three of the rod-shaped members among the plurality of the rod-shaped members to the tip portion. The three tubular portions having an insertion opening into which the rod-shaped member can be inserted are joined to the front end portion of the first tubular portion and the rear end portion of the second tubular portion, and the second tubular portion A connection portion for joining the tip end portion and the rear end portion of the third cylinder portion and joining the tip end portion of the third cylinder portion and the rear end portion of the first cylinder portion is provided. The tubular portion is fixed by the connecting portion so as to form a triangle when viewed from one direction, and the tubular portion has an insertion region that penetrates in the axial direction and is injected with the adhesive. The insertion opening is formed at the tip of the insertion region, and the connection portion and the tubular portion are integrally formed.

The drone device according to the above embodiment may have an insulating region that insulates the three rod-shaped members from each other.

The connection portion may be the insulation region.

According to the above aspect of the present invention, both ends of the tubular portion of the joint member are fixed to the other tubular portion so as to overlap with the other tubular portion at two places. That is, the joint member according to the above aspect can be supported by two fulcrums with respect to one rod-shaped member. As a result, the joint member can disperse the stress and obtain high strength. Therefore, the strength and safety of the joint member can be improved.

It is a perspective view of the drone apparatus provided with the joint member which concerns on 1st Embodiment of this invention. It is a partially enlarged view of the guard member including the joint member which concerns on 1st Embodiment of this invention. It is a front view of the joint member which concerns on 1st Embodiment of this invention. It is a side view of the joint member which concerns on 1st Embodiment of this invention. This is a modification of the method of providing the insulating layer of the joint member according to the second embodiment of the present invention.

The drone device 100 to which the joint member 1 according to the present embodiment is applied will be described. In the drawings below, the scale of each member is appropriately changed in order to make each member recognizable. FIG. 1 is a perspective view of a drone device 100 including a joint member 1 according to the present embodiment.

The drone device 100 includes a drone main body 110 and a guard member 120. The drone body 110 is a multicopter-type autonomous flight device including a support portion 111, four motors 112, four propellers 113, and a control unit (not shown). The support portion 111 is formed in an H shape by two columnar members arranged in parallel and a long frame material arranged so as to straddle both of the two columnar members. The support portion 111 supports the four motors 112, the four propellers 113, and the control portion.

The motor 112 is attached to each end of the columnar member of the support portion 111, and is connected to the control portion by a wiring (not shown). The propeller 113 is connected to the rotation shaft of the motor 112 and is rotated by the motor 112. The control unit controls the drive of the motor 112 based on a predetermined program. Further, the drone main body 110 may be provided with a GPS receiver for acquiring the current position, an infrared sensor for detecting an obstacle, and the like. As a result, it is possible to safely fly autonomously to the destination based on the information obtained from the above equipment.

The guard member 120 is a polyhedral cushioning member that surrounds the drone body 110, and includes a gimbal mechanism 121, a large number of frame members 122 (rod-shaped members), and a joint member 1.

The gimbal mechanism 121 includes a drone holding portion 123 that is held and fixed to a supporting portion 111 of the drone main body 110, and a substantially annular gimbal 124. The drone holding portion 123 is a long member, and the drone main body 110 is fixed to the central portion in the longitudinal direction.
The drone holding portion 123 is arranged so that the longitudinal direction is located in the radial direction of the gimbal 124, and both ends thereof are rotatably fixed to the inner peripheral surface of the gimbal 124. That is, the drone holding portion 123 is rotatable with respect to the gimbal 124 about its longitudinal direction as a central axis.
The gimbal 124 is fixed to the gimbal fixing portion 125, which will be described later, so as to be rotatable about the radial direction orthogonal to the rotation axis of the drone holding portion 123 as a rotation axis. That is, the gimbal mechanism 121 allows the drone body 110 to rotate in the biaxial direction inside the guard member 120.

The frame member 122 is a linear member having the same length. The material of the frame member 122 is preferably elastic and strong enough to absorb the impact of a collision, and examples thereof include carbon fiber, plastic, wood, aluminum, and duralumin.
The frame member 122 is connected to another frame member 122 by a joint member 1 to form a polyhedral structure (fullerene structure) in which a pentagon and a hexagon are combined. Further, gimbal fixing portions 125 are formed at two locations facing each other with the center of the polyhedral structure interposed therebetween. The gimbal fixing portion 125 is configured by arranging the frame member 122 from each corner of the pentagon formed by the frame member 122 toward the center of the pentagon, and fixes the drone holding portion 123 to the center of the pentagon. ..

The drone device 100 includes a camera (not shown), and the drone body 110 can take a picture of the surroundings by the camera during flight. Such a drone device 100 can fly in a place where it is difficult for humans to enter, for example, in a building, and can photograph the surrounding situation.

Further, the drone device 100 obtains lift by rotating the propeller 113 and flies. When the drone device 100 collides with a wall surface or the like during flight in a building, a force is applied to the guard member 120 and the gimbal mechanism 121 rotates to prevent the impact from being transmitted to the drone body 110. Can be done. Further, even when the drone device 100 is dropped, the guard member 120 also collides with the ground, so that the impact on the drone body 110 can be suppressed.

[First Embodiment]
Subsequently, the joint member 1 according to the first embodiment of the present invention will be described with reference to FIGS. 2 to 4. FIG. 2 is a partially enlarged view of the guard member 120 including the joint member 1 according to the present embodiment. Further, FIG. 3 is a front view of the joint member 1 according to the present embodiment. Further, FIG. 4 is a side view of the joint member 1 according to the present embodiment.

As shown in FIG. 2, the joint member 1 is a member that connects three frame members 122. As shown in FIG. 3, the joint member 1 is fixed at both ends to the ends of the other tubular members 1a so that the three hollow tubular members 1a (cylindrical portions) form a triangle. It is configured. The tubular member 1a is internally formed with an insertion region 1b that accommodates an end region of the frame member 122. Further, as shown in FIG. 4, the tubular member 1a has an insertion opening 1c formed at the tip of the insertion region 1b.

The insertion region 1b is a substantially columnar space, and as shown in FIG. 3, each of the three frame members 122 is inserted from different directions. As shown in FIG. 3, such three insertion regions 1b are viewed from a direction perpendicular to the insertion direction of all the frame members 122 into one joint member 1 (hereinafter, referred to as a front direction). Both ends overlap with the other insertion region 1b, forming a triangle. That is, in FIG. 3, when viewed from the front direction, the tip end portion of the first tubular member 1a overlaps the rear end portion of the second tubular member 1a, and the tip end portion of the second tubular member 1a It overlaps the rear end of the third tubular member 1a, and the tip of the third tubular member 1a overlaps the rear end of the first tubular member.
Further, the tubular member 1a can fix the frame member 122 by inserting the frame member 122 after the adhesive is injected.

Further, the joint member 1 has a connecting portion 1d for joining the three tubular members 1a. The connecting portion 1d fixes both end portions of the tubular member 1a so as to form an angle with each other end portion of the tubular member 1a. That is, the connecting portion 1d joins the tip end portion of the first tubular member 1a and the rear end portion of the second tubular member 1a, and the tip end portion of the second tubular member 1a and the third tubular member 1a. The rear end portion of the member 1a is joined, and the tip end portion of the third tubular member 1a is joined to the rear end portion of the first tubular member 1a.

The material of the tubular member 1a is preferably easy to process and has strength against impact due to collision, and examples thereof include ABS resin, AES resin, polycarbonate resin, polyacetal resin, maraging steel, and duralumin.
As the material constituting the connecting portion 1d, the same material as that of the tubular member 1a may be used. As a result, the connecting portion 1d can be integrally formed of the resin together with the tubular member 1a.
On the other hand, the connecting portion 1d may be made of a ceramic having a high insulating property, which is different from the tubular member, to improve the insulating property between the tubular members 1a. By forming the connecting portion 1d with a material having high insulating properties, even when a voltage of about several thousand volts is applied to the frame member 122, the connection portion 1d can be electrically disconnected. Thereby, for example, even when a current flows through the frame member 122 due to the guard member 120 coming into contact with the electric wire or the like, it is possible to prevent the electric wire from being short-circuited. Further, it is possible to prevent a high voltage current from flowing through the drone device 100 and becoming uncontrollable.

According to the joint member 1 according to the present embodiment, the tubular member 1a is fixed in a state of being arranged so as to form a triangle when viewed from the front direction. As a result, when the frame member 122 receives a force, the joint member 1 can support one frame member 122 at two points, so that the stress applied to the joint member 1 from the frame member 122 can be applied. Can be dispersed. Therefore, even if a strong stress is applied to the joint member 1, it is possible to prevent the joint member 1 from being damaged, and it is possible to improve the strength and safety of the guard member 120.

Further, according to the joint member 1 according to the present embodiment, the insertion region 1b can be deepened without increasing the total volume, and the frame member 122 can be deeply inserted and sufficiently fixed. is there. Therefore, since the joint member 1 according to the present embodiment has a structure in which the frame member 122 does not easily come off, the strength and safety can be improved.

Further, according to the joint member 1 according to the present embodiment, the connecting portion 1d is made of a material having high insulating properties. As a result, the frame members 122 can be electrically disconnected from each other. For example, when the guard member 120 comes into contact with an electric wire during the flight of the drone device 100, the joint member causes a current to flow from the frame member 122. , The other frame member 122 can be electrically disconnected. Therefore, it is possible to prevent the electric wire from being short-circuited, and further to prevent a high-voltage current from flowing through the drone device 100 and becoming uncontrollable.

Further, the guard member 120 including the joint member 1 and the frame member 122 can connect the plurality of frame members 122 to accurate positions only by inserting the frame member 122 into the joint member 1, and thus the frame member 122. Assembling is easy without the trouble of positioning each other.
[Second Embodiment]
Next, the joint member 1A according to the second embodiment of the present invention will be described with reference to FIG. FIG. 5 is a front view of the joint member 1A according to the present embodiment. The same components are designated by the same reference numerals as those in the first embodiment.

As shown in FIG. 5, the joint member 1A according to the present embodiment is a member in which three frame members 122 are inserted from different directions toward the center point O. The joint member 1A is formed with three protruding portions 1e protruding outward in the radial direction from a substantially spherical central portion. An insertion region 1f, which is a space into which the frame member 122 is inserted, is formed inside the protruding portion 1e, and an insertion opening (not shown) of the insertion region 1f is formed at the tip thereof. The entire joint member 1A is made of a ceramic having a high insulating property, and the entire joint member 1A is an insulating region.

Since the joint member 1A according to the present embodiment is entirely insulated, it is possible to prevent the current from flowing to the other frame member 122 when the current flows through the frame member 122 connected to the joint member 1A. it can. Therefore, the current does not short in the guard member 120, and the safety of the guard member 120 including the joint member 1A can be improved.

Further, the joint member 1A according to the present embodiment has a structure in which three frame members 122 are inserted from different directions toward the center point O. As a result, the joint member 1A has a simple structure and can be easily molded by ceramic.

Although the preferred embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to the above embodiment. The various shapes and combinations of the constituent members shown in the above-described embodiment are examples, and can be variously changed based on design requirements and the like without departing from the spirit of the present invention.

In the first embodiment, the case where the connecting portion 1d and the tubular member 1a are made of different materials is shown in order to improve the insulating property, but the present invention is not limited to this. For example, the connecting portion 1d and the tubular member 1a may be integrally formed of ceramic. In this case, since the connection between the connecting portion 1d and the tubular member 1a is strengthened, the joint member 1 can maintain higher strength.

Further, in the first embodiment, the insulating region is formed by the connecting portion 1d, but the present invention is not limited to this. For example, it is possible to form an insulating region by filling the insertion region 1b with oil having a high insulating property or fixing the frame member 122 with an adhesive having a high insulating property. In this case, since the connection between the connecting portion 1d and the tubular member 1a is strengthened, the joint member 1 can maintain higher strength.

Further, in the second embodiment, the joint member 1A is entirely formed of a ceramic having a high insulating property, and the entire joint member 1A is an insulating region, but the present invention is not limited thereto. As the joint member 1A, it is also possible to adopt a configuration in which a member having high insulating property is embedded in a region at the base of the protruding portion 1e.

In the first and second embodiments, examples of the highly insulating member used for forming the insulating layer include insulation of 11 kV / mm or more such as alumina-based, silicon carbide-based, silicon nitride-based, or zirconia-based ceramics. Materials with performance can be mentioned. Further, by changing the thickness of the insulating layer made of the above-mentioned highly insulating member, low voltage (AC 600 V or less, DC 750 V or less), high voltage (AC 600 V or more and 7000 V or less, DC 750 V or less) can be obtained. It is possible to improve the insulation property for each of (exceeding 7,000 V or less) and extra high voltage (exceeding AC 7,000 V, AC exceeding 7,000 V). Specifically, for example, when a material having an insulating performance of 11 kV / mm is used, an insulating layer having a thickness of about 1 mm is formed at a low voltage, and an insulating layer having a thickness of 7 mm or more is formed at a high voltage. Insulation performance can be ensured by forming. Further, in the case of an extra high voltage, the insulation performance of the insulating layer is ensured by changing the thickness and material of the insulating layer according to the magnitude of the voltage that may be applied to the guard member 120. It is possible.

Further, in the first and second embodiments, the guard member 120 has a fullerene structure which is a kind of geodesic structure, but the present invention is not limited to this. The guard member 120 can also adopt other geodesic structures. Further, if the guard member 120 has the joint member according to the present invention, it is possible to adopt a structure other than the geodesic structure.

Further, the drone body 110 has an H-shaped support portion 111, but the present invention is not limited to this. The design of the drone body 110 can be arbitrarily changed, and the support portion 111 may have an X-shaped structure formed by intersecting frame materials. Further, the number of motors 112 and propellers 113 of the drone main body 110 is not limited, and for example, a configuration in which 6 or 8 motors 112 and propellers 113 are provided can be adopted.

Further, the guard member 120 has a gimbal mechanism 121 and has a structure that rotatably supports the drone main body 110 in the biaxial direction, but the present invention is not limited to this. By making the connection portion between the support portion 111 of the drone main body 110 and the drone holding portion 123 also rotatable, it is possible to have a structure in which the drone main body 110 is rotatably supported in the three axial directions.

1 Joint member 1a Cylindrical member 1A Joint member 1b Insertion area 1c Insertion opening 1d Connection part 1e Protruding part 1f Insertion area 100 Drone device 110 Drone body 111 Support part 112 Motor 113 Propeller 114 Control part 120 Guard member 121 Gimbal mechanism 122 Frame member 123 Drone holding part 124 Gimbal 125 Gimbal fixing part

Claims (3)

With the drone body
The guard member that surrounds the drone body and
With
The guard member
With multiple rod-shaped members
A plurality of joint members connecting the plurality of rod-shaped members so as to surround the drone body,
Have,
The joint member connects three of the rod-shaped members among the plurality of rod-shaped members .
Three tubular portions having an insertion opening into which the rod-shaped member can be inserted at the tip portion,
The tip of the first cylinder and the rear end of the second cylinder are joined, and the tip of the second cylinder and the rear end of the third cylinder are joined. A connecting portion that joins the front end portion of the third tubular portion and the rear end portion of the first tubular portion, and
With
The three tubular portions are fixed by the connecting portions so as to form a triangle when viewed from one direction.
The tubular portion has an insertion region that penetrates in the axial direction and is injected with an adhesive.
The insertion opening is formed at the tip of the insertion region.
A drone device characterized in that the connection portion and the cylinder portion are integrally formed . The drone device according to claim 1, wherein the tubular portion has an insulating region that insulates the rod-shaped members from each other. The drone device according to claim 2, wherein the connecting portion is the insulating region.

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