WO2017010019A1

WO2017010019A1 - Unmanned aerial vehicle

Info

Publication number: WO2017010019A1
Application number: PCT/JP2015/074561
Authority: WO
Inventors: 弓男守屋
Original assignee: 株式会社エムアイエー
Priority date: 2015-07-10
Filing date: 2015-08-31
Publication date: 2017-01-19
Also published as: JP2017019493A; WO2017010439A1

Abstract

[Problem] To configure the frame supporting an unmanned aerial vehicle so as to be lightweight and strong. [Solution] An unmanned aerial vehicle (1) is equipped with: an upper frame (10) that is formed by connecting, at intersection points, a plurality of first rod-shaped members arranged in a line in a second direction intersecting a first direction, with the first direction serving as the longitudinal direction of the rod-shaped members, and a plurality of second rod-shaped members arranged in a line in the first direction atop the plurality of first rod-shaped members, with the second direction serving as the longitudinal direction of the rod-shaped members; a lower frame (20) that is formed by connecting together two rod-shaped members arranged in a line in the second direction with the first direction serving as the longitudinal direction of the rod-shaped members and two rod-shaped members arranged in a line in the first direction with the second direction serving as the longitudinal direction of the rod-shaped members; and connecting members (30) that, in at least one of the outer spaces from among nine square spaces demarcated by the plurality of first and second rod-shaped members, connect each of the four intersection points of the plurality of first and second rod-shaped members corresponding to the four top points of the square of the space to a support point on the lower frame (20).

Description

Unmanned aerial vehicle

The present invention relates to an unmanned aerial vehicle.

In recent years, unmanned aerial vehicles (so-called drones) are rapidly spreading due to downsizing and price reduction. There are various types of unmanned aerial vehicles, and they can be broadly classified into fixed wing types and spoke types. Examples of the fixed wing type include a type having a rotary wing such as a helicopter, a type having a movable wing such as an Osprey, and a type having both a rotary wing and a movable wing. Examples of the spoke type include a multicopter type having a plurality of rotary blades (see, for example, Patent Document 1).

Among these types, the multi-copter type is the mainstream from the viewpoints of flight stability and easy control. However, in the multi-copter type, each rotor blade is supported in the form of a cantilever, so it is weak against bending moment, and the rotor blade is easily damaged and structurally weak by colliding with an obstacle. Hurts surrounding people and may cause injury by touching the rotor blades during operation.

JP 2013-129301 A

This invention makes it a subject to comprise the frame which supports an unmanned aerial vehicle lightly and firmly.

The present invention includes a plurality of first rod-like members arranged in a second direction intersecting the first direction with the first direction as a longitudinal direction, and a plurality of first rod-like members arranged in the first direction with the second direction as a longitudinal direction. A first frame formed by connecting a plurality of second rod-shaped members at intersections, and spaced apart to one side in a third direction intersecting the first and second directions from the first frame, and the first direction is elongated A second frame formed by connecting two third rod-shaped members arranged in the second direction and two fourth rod-shaped members arranged in the first direction with the second direction as a longitudinal direction, and a plurality of first and For at least one outer space of the plurality of rectangular spaces defined by the second rod-shaped member, the four intersections of the plurality of first and second rod-shaped members corresponding to the four vertices of the square of the space Each is located on one side in the third direction from near the center of these four intersections And four connecting members that connect the support points on the second frame that is an unmanned aircraft comprising a.

According to this, by the four connecting members, a plurality of squares corresponding to the four vertices of the square in the outer space of at least one of the plurality of square spaces defined by the plurality of first and second rod-shaped members. Each of the four intersections of the first and second rod-shaped members is connected to a support point on the second frame located on one side in the third direction from the vicinity of the center of the four intersections. Thereby, the first and second frames are lightly and firmly connected by the connecting member assembled in a three-dimensional truss shape.

The unmanned aerial vehicle according to the present invention is attached to a support point on the second frame via a support member extending from the support point to the other side in the third direction, and has a plane parallel to the first and second directions as a rotation surface. A rotating wing is further provided.

According to this, since the rotor blade that generates lift or thrust is attached to the support point on the second frame connected to the first frame by the connecting member, high strength can be obtained against vibration of the rotor blade. .

The unmanned aerial vehicle according to the present invention is characterized in that the third and fourth rod-like members are thicker than the first and second rod-like members and the four connecting members.

According to this, since the 3rd and 4th rod-shaped member which forms the 2nd frame is thicker than the other 1st and 2nd rod-shaped members and a connection member, the 2nd frame is constituted firmly and to the vibration of a rotary wing. On the other hand, high strength is obtained.

The unmanned aerial vehicle of the present invention connects four intersections of a plurality of first and second rod-shaped members corresponding to four vertices of a square of at least one outer space by using two connecting members that intersect each other, A rotating blade having a plane of rotation parallel to the first and second directions, which is attached to the intersection of the two connecting members via a support member extending from the intersection to one side in the third direction, is further provided.

According to this, the four intersections of the plurality of first and second rod-shaped members corresponding to the four vertices of the square of the at least one outer space are connected using the two connecting members intersecting each other, and the two A high strength against vibrations of the rotor blades can be obtained by attaching the rotor blades that generate lift or thrust at the intersections of the connecting members.

The unmanned aerial vehicle of the present invention further includes a power source for a rotary wing disposed in at least one inner space among a plurality of rectangular spaces partitioned by a plurality of first and second rod-like members.

According to this, the rotor blade disposed in at least one outer space can be driven by the power source disposed in at least one inner space among the plurality of square spaces.

The unmanned aerial vehicle according to the present invention includes a first auxiliary rotor blade that is mounted between one end of the first frame in the first direction and the second frame, and has a plane parallel to the second and third directions as a rotation surface. A second auxiliary rotor blade attached between one end of the first frame in the second direction and the second frame and having a plane parallel to the first and third directions as a rotation surface;

According to this, it attaches between the 1st auxiliary | assistant rotary blade attached between the end of the 1st direction of a 1st frame, and a 2nd frame, and the 1st frame of the 1st direction, and the 2nd frame. With the second auxiliary rotor blade, thrust can be generated in a plane parallel to the first and second directions.

The unmanned aerial vehicle of the present invention further includes legs fixed to one side in the third direction of the second frame.

According to this, the second frame and the first frame connected to the second frame can be supported on the surface by the leg portion fixed to one side in the third direction of the second frame.

According to the unmanned aerial vehicle of the present invention, the frame that supports the unmanned aircraft can be configured to be light and strong.

FIG. 1 is a perspective view showing an overall configuration of an unmanned aerial vehicle. 2A and 2B are a plan view and a side view, respectively, showing the overall configuration of the unmanned aerial vehicle. FIG. 3 is a plan view showing the configuration of the upper frame portion. FIGS. 4A and 4B are a plan view and a side view, respectively, showing the configuration of the lower frame portion and the arrangement of the lower frame portion. 5A and 5B are a plan view and a side view, respectively, showing the configuration of the leg portion. 6A and 6B are a plan view and a side view, respectively, showing the overall configuration of the unmanned aerial vehicle.

DESCRIPTION OF SYMBOLS 1 Unmanned aerial vehicle 2 Frame 10 Upper frame part 11a Bar-shaped member 11b Bar-shaped member 11c Bar-shaped member 11d Bar-shaped member 11e Connecting member 11f Connecting member 12a Bar-shaped member 12b Bar-shaped member 12c Bar-shaped member 12d Bar-shaped member 12e Intersection member 13b Intersection point 13b Intersection member 13b Intersection point 13d Intersection point 14 Overhang portion 15 Overhang portion

16a Connection member

16b Connection member

16c Connection member

16d Connection member 20 Lower frame portion

21a Bar member

21b Bar member 21a ₀ Support point 22a Bar member 22b Bar member 30 Connection portion 31a Connection member 31 Connecting member 31c Connecting member 31d Connecting member

32a Connecting member

32b Connecting member

32c Connecting member 40 Rotary blade 41 Blade 42 Rotating shaft 43 Support member 44 Support part 48 Auxiliary rotors 49 Power source 50 Leg 51a Rod member 51b Rod member 52a Rod member 52b Rod member 53a Cushion 53b Cushion 54a Cushion 54b Cushion 55a Attachment member 55b Attachment member 55c Attachment member 55d Attachment member 60a Support member 61b member 61c supporting member 61d supporting member S ₂₁ space S ₂₂ space

An embodiment of the present invention will be described.

1 and 2 show the overall configuration of the unmanned aerial vehicle 1 according to this embodiment. FIG. 1 is a perspective view showing an unmanned aerial vehicle 1 viewed from a perspective direction, FIG. 2A is a top view showing the unmanned aircraft 1 viewed from above, and FIG. 2B is an unmanned vehicle viewed from a side. 1 is a side view showing an aircraft 1. The unmanned aerial vehicle 1 is configured symmetrically with respect to a central axis (not shown) of 45 degrees diagonally to the right in FIG. 2A. The unmanned aerial vehicle 1 includes a frame 2, legs 50, eight rotor blades 40, two auxiliary rotor blades 48, a power source 49, and a loading unit 60.

The frame 2 is a structure that supports the entire unmanned aerial vehicle 1, and includes an upper frame portion 10, a lower frame portion 20, and a connecting portion 30.

FIG. 3 shows the configuration of the frame unit 10. FIG. 3 is a top view showing the configuration of the upper frame portion 10 as viewed from above. The upper frame portion 10 constitutes an upper portion of the frame 2 and is composed of four rod-like members 11a to 11d and 12a to 12d and two connecting

members

11e, 11f, 12e and 12f. As an example, these members are pipe-shaped members made of a lightweight metal such as stainless steel. Carbon or the like may be used.

The four rod-like members 11a to 11d are arranged in parallel at equal intervals in the horizontal direction of the drawing with the vertical direction of the drawing as the longitudinal direction. The four rod-shaped members 12a to 12d are arranged in parallel in the vertical direction of the drawing so as to overlap the four rod-shaped members 11a to 11d with the left-right direction of the drawing as a longitudinal direction. The rod-like members 11a to 11d and 12a to 12d are integrally connected at their intersections, for example, by welding, and assembled in a lattice shape. In addition, it is good also by bolt joining, adhesion | attachment, etc. instead of welding.

However, the lower end of the rod-shaped member 11a is curved in the right direction of the drawing, and the left end of the rod-shaped member 12a is curved in the upward direction of the drawing, and these end portions are integrally connected. Similarly, the upper end portion of the rod-shaped member 11d is curved in the left direction in the drawing, the right end portion of the rod-shaped member 12d is curved in the downward direction in the drawing, and these end portions are integrally connected.

Further, the upper end of the rod-shaped member 11a is curved in the right direction in the drawing, the tip is connected to the intersection of the rod-

shaped members

11a and 12d by the connecting member 11e, and the intersection of the rod-

shaped members

11b and 12d is connected by the connecting member 11f. It is connected. Similarly, the end of the rod-like member 12a on the right side of the drawing is curved in the upward direction in the drawing, the tip is connected to the intersection of the rod-like members 12a and 11d by the connecting member 12e, and the intersection of the rod-

like members

12b and 11d is connected by the connecting member 12f. It is connected to. Thereby, the

overhang portions

14 and 15 are formed in the upper frame portion 10.

With the above-described configuration, all nine rectangular spaces S _ij (i = 1 to 3, j = 1 to 3) arranged in a matrix by each of the four rod-shaped members 11a to 11d and 12a to 12d are partitioned, In addition, a lattice-shaped upper frame portion 10 having no corners at the four corners is assembled.

FIG. 4 shows the configuration of the lower frame portion 20 and its arrangement with respect to the frame 2. FIGS. 4A and 4B are a top view and a side view showing the configuration and arrangement of the lower frame portion 20 as viewed from above and from the sides, respectively. The lower frame portion 20 constitutes the bottom portion of the frame 2 and is composed of two rod-

like members

21a, 21b, 22a, and 22b. These members are, for example, pipe-like members made of a lightweight metal such as stainless steel, like the rod-like members 11a to 11d, 12a to 12d and the connecting

members

11e, 11f, 12e, and 12f constituting the upper frame portion 10. is there. However, the rod-shaped

members

21a, 21b, 22a, and 22b are thicker than the rod-shaped members 11a to 11d, 12a to 12d, the connecting

members

11e, 11f, 12e, and 12f, and connecting

members

31a, 31b, 31c, and 31d described later (that is, the diameter). Is large). As a result, the lower frame portion 20 of the frame 2 is configured to be particularly strong, and a high strength can be obtained against vibration of the rotor blade 40 described later.

The two rod-shaped

members

21a and 21b are juxtaposed in the horizontal direction of the drawing with the vertical direction of the drawing as the longitudinal direction. However, the rod-shaped member 21a is longer than the rod-shaped member 21b. The two rod-

like members

22a and 22b are juxtaposed in the vertical direction of the drawing with the horizontal direction as the longitudinal direction. However, the rod-shaped member 22a is longer than the rod-shaped member 22b. The lower end of the rod-like member 21a in the drawing is on the left end of the rod-like member 22a, the lower end of the rod-like member 21b in the vicinity of the right end of the rod-like member 22a in the drawing, The end on the left side of the drawing is integrally connected to the vicinity of the end on the upper side of the rod-shaped member 21a, and the end on the upper side of the rod-shaped member 21b is integrally connected to the end on the right side of the rod-shaped member 22b by, for example, welding.

The lower frame portion 20 is disposed below the upper frame portion 10 (lower side in FIG. 4B). Here, as can be seen from FIG. 4A, the connection points of the two rod-shaped

members

21a, 21b, 22a, and 22b are the four corners of the nine spaces partitioned in the upper frame portion 10 in plan view. Is located at the center of the spaces S ₁₁ , S ₁₃ , S ₃₁ , S ₃₃ located in

The connecting part 30 connects the upper frame part 10 and the lower frame part 20. The connecting portion 30 includes eight connecting member sets each including four connecting

members

31a, 31b, 31c, and 31d and two connecting member sets each including three connecting

members

32a, 32b, and 32c.

The eight connecting member sets are composed of nine rectangular spaces S _ij (i = 1 to 3, j = 1 to 3) partitioned by four rod-like members 11a to 11d and 12a to 12d in the upper frame portion 10, respectively. For each of the remaining outer spaces excluding the space S ₂₂ located on the inner side, each of the four intersections of the rod-shaped members corresponding to the four vertices of the square of each space is set to the center (or near the center) of the four intersections. ) Are connected to portions (referred to as support points) of rod-

like members

21a, 21b, 22a, and 22b constituting the lower frame portion 20 located below (lower side in FIG. 4B).

As an example, the rod-shaped

members

11a, 11b, 12b, the space _{S 21} which is defined by 12c, the bar-like member 11a corresponding to the square of the lower left vertex of the space _{S 21,} 12b the intersection 13a of using the connecting member 31a The support point 21 a ₀ on the rod-like member 21 a constituting the lower frame portion 20 is connected. Similarly, rod-like member 11a corresponding to the upper left vertex of the rectangular space _{S 21,} 12c intersections 13b of using the connecting member 31b, connected to the supporting point 21a ₀ on the rod-like member 21a. Similarly, rod-shaped member 11b corresponding to the lower right vertex of the rectangular space _{S 21,} 12b the intersection 13c of using the connecting member 31c, are connected to the support point 21a ₀ on the rod-like member 21a. Similarly, rod-shaped member 11b corresponding to the square of the upper right apex of the space _{S 21,} 12c intersections 13d of using a connecting member 31d, connected to the supporting point 21a0 on the rod-like member 21a. Thereby, a quadrangular pyramid solid truss is assembled by the connecting

members

31a, 31b, 31c, 31d and the rod-shaped

members

11a, 11b, 12b, 12c, and the apex thereof is connected to the rod-shaped member 21a of the lower frame portion 20.

By the connecting portion 30 having the above-described configuration, eight solid members are provided by the connecting

members

31a, 31b, 31c, 31d included in each connecting member set and the four rod-like members 11a-11d, 12a-12d constituting the upper frame portion 10. Trusses are assembled, and their apexes are connected to the two rod-

like members

21a, 21b, 22a, and 22b constituting the lower frame portion 20, respectively. Thereby, the upper frame part 10 and the lower frame part 20 are lightly and firmly connected.

One of the two connecting member sets is an end of the rod-shaped member 21a constituting the lower frame portion 20 at each connection point of the rod-shaped

members

11a, 12d and the connecting members 11e, 11f (see FIG. 3) in the upper frame portion 10 (see FIG. 4 (A) at the upper end). That is, the connecting member 32a is a connecting point between the rod-like member 11a and the connecting members 11e and 11f, the connecting member 32b is a connecting point between the rod-

like members

11a and 12d and the connecting member 11e, and the connecting member 32c is a connecting point between the rod-like member 12d and the connecting member 11f. The connection points are respectively connected to the end portions of the rod-shaped member 21a.

The other of the two connecting member sets is the end of the rod-like member 22a constituting the lower frame portion 20 at each connection point of the rod-like members 12a, 11d and the connecting members 12e, 12f (see FIG. 3) in the upper frame portion 10 (see FIG. 4 (A) at the right end). That is, the connecting member 32a is a connecting point between the rod-like member 12a and the connecting members 12e and 12f, the connecting member 32b is a connecting point between the rod-like members 12a and 11d and the connecting member 12e, and the connecting member 32c is the connecting point between the rod-like member 11d and the connecting member 12f. The connection points are respectively connected to the end portions of the rod-shaped member 22a.

A triangular pyramid three-dimensional truss is assembled by each of the two connecting member sets, whereby the two overhanging

portions

14 and 15 of the upper frame portion 10 are firmly connected to the lower frame portion 20.

FIG. 5 shows the configuration of the leg 50. FIGS. 5A and 5B are a top view and a side view, respectively, showing the configuration and arrangement of the leg portion 50 as viewed from above and from the side. The leg portion 50 is fixed to the lower side of the frame 2 and is a portion that supports the unmanned aerial vehicle 1 on a surface such as the ground surface. The leg portions 50 are each provided with two rod-shaped

members

51a, 51b, 52a, 52b, eight

cushions

53a, 53b, 54a, 54b, and four

attachment members

55a, 55b, 55c, 55d. The rod-shaped

members

51a, 51b, 52a, 52b and the mounting

members

55a, 55b, 55c, 55d are pipe-shaped members made of a lightweight metal such as stainless steel, for example.

Each of the two rod-

like members

51a, 51b, 52a, 52b constitutes the main body of the leg portion 50. The two rod-shaped

members

51a and 51b are juxtaposed in the horizontal direction of the drawing with the vertical direction of the drawing as the longitudinal direction. The two rod-

like members

52a and 52b are juxtaposed in the vertical direction of the drawing with the horizontal direction in the drawing as the longitudinal direction. Each of the two rod-shaped

members

51a, 51b, 52a, 52b is assembled into a rectangular shape by connecting the end portions thereof by welding, for example.

The eight

cushions

53a, 53b, 54a, 54b are members that cushion the impact when the unmanned aircraft 1 touches the surface such as when landing on the ground. Further, when landing, buoyancy is generated to stabilize the unmanned aircraft 1. Of these, the two cushions 53a are attached to the rod-like member 51a so as to be spaced apart from each other, the two cushions 53b are attached to the rod-like member 51b so as to be spaced apart from each other, and the two cushions 54a are attached to the rod-like member 52a so as to be spaced apart from each other. The two cushions 54b are attached to the bar-shaped member 52b so as to be separated from each other.

The four

attachment members

55a, 55b, 55c, and 55d attach the rod-

like members

51a, 51b, 52a, and 52b assembled in a rectangular shape to the frame 2. The attachment member 55a attaches the connection ends of the rod-

like members

51a and 52a to the connection ends of the rod-

like members

21a and 22a (see FIG. 4) constituting the lower frame portion 20 of the frame 2. The attachment member 55b attaches the connection ends of the rod-

like members

51a and 52b to the connection ends of the rod-

like members

21a and 22b (see FIG. 4). The attachment member 55c attaches the connection ends of the rod-

like members

51b and 52a to the connection ends of the rod-

like members

21b and 22a (see FIG. 4). The attachment member 55d attaches the connection ends of the rod-

like members

51b and 52b to the connection ends of the rod-

like members

21b and 22b (see FIG. 4).

The eight rotor blades 40 generate lift or thrust required for the unmanned aircraft 1 to fly by rotating. As can be seen from FIG. 2, each of the eight rotor blades 40 has four blades 41 and a motor (not shown). The four blades 41 have their distal ends widened in four directions, and the base ends are fixed to the rotating shaft 42. The motor receives electric power from a power source 49, which will be described later, and rotates the rotating shaft 42 to which the four blades 41 are fixed. In the present embodiment, the number of blades is four, but it may be arbitrarily designed. For example, two or three may be used.

Each of the eight rotor blades 40 is a bar-shaped member that constitutes the lower frame portion 20 to which the eight support points on the lower frame portion 20, that is, the connecting

members

31a, 31b, 31c, and 31d included in the eight connecting member sets are connected. It is attached to 8 points on 21a, 21b, 22a, 22b.

As an example, a rotor blade 40 attached to a support point 21a ₀ (see FIG. 2B) on a rod-shaped member 21a is given. The rotating blades 40 are arranged so that the rotational surfaces of the four blades 41 are parallel to the two-dimensional surfaces of the upper, lower, left and right sides in FIG. 2A, and the support member 43 whose longitudinal direction is the longitudinal direction in FIG. attached to the support point 21a ₀ on the rod-like member 21a. Thereby, a high strength against vibration of the rotor blade 40 is obtained.

Here, the length of the support member 43 is shorter than the distance between the upper frame portion 10 and the lower frame portion 20. Thus, rotary blades 40, as well as disposed in the space S ₂₁ of square shape which is defined by the upper frame portion 10 in a top view, in three-dimensional truss formed by connecting portion 30 and the upper frame portion 10 in a side view Arranged. Thus, the rotary blade 40 is protected by being surrounded by the members constituting the frame 2.

The two auxiliary rotor blades 48 generate thrust for rotating or changing the direction of the unmanned aircraft 1 by rotating. Their configuration is the same as that of the eight rotor blades 40.

As can be seen from FIG. 2, the two auxiliary rotor blades 48 are attached to the connecting member 32a via the support members between the two overhanging

portions

14 and 15 of the upper frame portion 10 and the lower frame portion 20, respectively. . The rotating surfaces of the four blades of the two auxiliary rotor blades 48 are oriented in the direction of 45 degrees to the right in FIG. The two auxiliary rotor blades 48 generate power by rotating by receiving electric power from a power source 49 described later. Here, by controlling the thrust of each of the two auxiliary rotor blades 48, the unmanned aerial vehicle 1 can fly in the direction parallel to the paper surface in FIG.

The power source 49 supplies power to the eight rotor blades 40 and the two auxiliary rotor blades 48. The power source 49 has a battery (not shown) that outputs electric power and a housing that houses the battery. Housing is disposed inside the space _{S 22} of the space 9 square shape which is defined by the upper frame portion 10, the rod-shaped member 11b which divides the

space

_{S 22,} 11c, 12b, fixed to 12c ing. Thereby, electric power is supplied to the eight rotor blades 40 arranged in the outer rectangular spaces S ₁₁ , S ₁₂ , S ₁₃ , S ₂₁ , S ₂₃ , S ₃₁ , S ₃₂ , and S ₃₃ in the top view. Can be driven.

The loading unit 60 has a structure for loading cargo on the unmanned aerial vehicle 1, and includes four

support members

61a, 61b, 61c, and 61d. As shown in FIG. 5, the four

support members

61a, 61b, 61c, and 61d are rod-shaped members whose ends are bent into an L shape, and the longitudinal lengths thereof are the upper frame portion 10 and the lower frame. It is longer than the separation distance from the portion 20 and shorter than the separation distance between the upper frame portion 10 and the rod-shaped

members

51a, 51b, 52a, 52b of the leg portion 50. Four

support members

61a, 61b, 61c, 61d is, toward the tip in the center of the square-shaped space _{S 22,} the respective proximal rod-like member 11b which divides the

space

_{S 22,} 11c, 12b, the intersection of 12c Connected by welding or the like. Cargo is stored in a cubic box W, and the box W can be mounted on the tips of the four

support members

61a, 61b, 61c, 61d, so that the cargo can be mounted in the space of the leg portion 50.

The applicant made a prototype of the unmanned aerial vehicle 1 according to this embodiment. The

rod members

21a, 21b, 22a, and 22b that require strength were made of 20 mm diameter pipes, the other rod members were made of 8 mm diameter pipes, and the side length of the rectangular portion of the upper frame portion 10 was 960 mm.

As a result, the unmanned aerial vehicle 1 with sufficient strength was realized, and the weight of the frame excluding the main body was 644 g and the lifting gravity was 18 kg.

FIG. 6 shows a configuration of the unmanned aerial vehicle 1 according to the modified embodiment. It is a figure corresponding to FIG. 2 of the above-mentioned embodiment. The main difference from the above-described embodiment is that a support member 44 that supports the propeller from above is provided instead of the support member 43 that supports the propeller from below.

In order to support the support member 44,

bar members

16a, 16b, 16c, and 16d are additionally provided in the upper frame portion 10.

The support member 44 is shorter than the support member 43. That is, the torque that the stress generated on the support member 44 by the vibration of the propeller gives to the upper frame portion 10 is smaller than the torque that the stress generated on the support member 43 by the vibration of the propeller gives to the lower frame portion 20.

Except for the above, the same effects as in the above embodiment are obtained.

As described above in detail, the unmanned aerial vehicle 1 of the present embodiment includes a plurality of rod-like members 11a to 11d arranged in the second direction intersecting the first direction with the first direction as the longitudinal direction, and the second direction as the longitudinal direction. An upper frame portion 10 formed by connecting a plurality of rod-shaped members 12a to 12d arranged in the first direction so as to overlap the plurality of rod-shaped members 11a to 11d at intersections, and from the upper frame portion 10 in the first and second directions. Two rod-

like members

21a and 21b that are spaced apart to one side of the intersecting third direction and that are arranged in the second direction with the first direction as the length, and two rod-

like members

22a and 22b that are arranged in the first direction with the second direction as the length And the lower frame portion 20 formed by connecting the plurality of rod-shaped members 11a to 11d and 12a to 12d, and at least one outer space of the nine rectangular spaces, Direction Supporting each of the four intersections of the plurality of rod-like members 11a to 11d, 12a to 12d corresponding to the four vertices on the lower frame portion 20 located on one side in the third direction from the vicinity of the center of the four intersections

Four connecting members

31a, 31b, 31c and 31d connected to the points are provided. Thereby, the upper frame part 10 and the lower frame part 20 are lightly and firmly connected by the connecting

members

31a, 31b, 31c, and 31d assembled in a three-dimensional truss shape.

In the present embodiment, the eight rotary blades 40 are attached to the lower frame part 20, but may be attached to the upper frame part 10 instead. (See modified embodiment)

As an example, it mentions rotary blade 40 which is disposed in the space _{S 21.} The four intersections of the rod-

like members

11a, 11b, 12b, and 12c corresponding to the four vertices of the square of the space S21 are connected using two connecting members (not shown) that intersect each other. The rotating blades 40 are arranged so that the rotating surfaces of the four blades 41 are parallel to the two-dimensional planes in the up, down, left, and right directions in FIG. It is attached at the intersection of two connecting members. Thereby, a high strength against vibration of the rotor blade 40 is obtained.

Here, the length of the support member is shorter than the distance between the upper frame portion 10 and the lower frame portion 20. More specifically, it is substantially equal to the difference between the distance between the upper frame portion 10 and the lower frame portion 20 and the length of the support member 43 described above. Thus, rotary blades 40, as well as disposed in the space S ₂₁ of square shape which is defined by the upper frame portion 10 in a top view, in three-dimensional truss formed by connecting portion 30 and the upper frame portion 10 in a side view Arranged. Thus, the rotary blade 40 is protected by being surrounded by the members constituting the frame 2.

In the unmanned aerial vehicle 1 of the present embodiment, the upper frame portion 10 is composed of four rod-like members 11a to 11d and 12a to 12d, but the number thereof may be any number of four or more. Good. For example, when the upper frame portion 10 is assembled from five rod-shaped members, 16 rectangular spaces are defined. In accordance with this, the rotor blades 40 may be arranged in each of the 12 outer spaces of the 16 spaces. In addition, the power source 49 may be disposed in any one of the four inner spaces, or may be disposed in the entire four spaces.

Further, the overhanging portion 14 and the auxiliary rotor blade 48 are not necessarily provided.

The unmanned aerial vehicle of the present invention is suitable for constructing a lightweight and strong frame that supports the unmanned aircraft.

Claims

A plurality of first rod-like members arranged in a second direction intersecting the first direction with the first direction as a longitudinal direction, and a plurality of first rod-like members arranged in the first direction with the second direction as a longitudinal direction, overlaid on the plurality of first rod-like members. A first frame formed by connecting a plurality of second rod-shaped members at intersections;
Two third rod-shaped members spaced apart from the first frame to one side in a third direction intersecting the first and second directions and arranged in the second direction with the first direction as a longitudinal direction; and the second direction A second frame formed by connecting two fourth rod-shaped members arranged in the first direction with the length as a longitudinal direction,
With respect to at least one outer space among a plurality of rectangular spaces defined by the plurality of first and second rod-shaped members, the plurality of first and second corresponding to four vertices of the square of the space. Four connecting members that connect each of the four intersections of the rod-shaped members to a support point on the second frame located on one side of the third direction from the vicinity of the center of the four intersections;
An unmanned aircraft equipped with.
A rotor blade attached to a support point on the second frame via a support member extending from the support point to the other side in the third direction, and having a plane parallel to the first and second directions as a rotation surface; The unmanned aerial vehicle according to claim 1, further comprising:
3. The unmanned aerial vehicle according to claim 2, wherein the third and fourth rod-shaped members are thicker than the first and second rod-shaped members and the four connecting members.
Connecting four intersections of the plurality of first and second rod-shaped members corresponding to four vertices of the square of the at least one outer space with two connecting members intersecting each other, 2. The rotating blade according to claim 1, further comprising a rotating blade attached to an intersection via a support member extending from the intersection to one side in the third direction and having a plane parallel to the first and second directions as a rotation surface. Unmanned aerial vehicle.
5. The power source for the rotor blade according to claim 2, further comprising a power source for the rotor blade disposed in an inner space of at least one of a plurality of rectangular spaces defined by the plurality of first and second rod-shaped members. An unmanned aerial vehicle according to claim 1.
A first auxiliary rotor blade mounted between one end of the first frame in the first direction and the second frame and having a plane parallel to the second and third directions as a rotation surface;
A second auxiliary rotor blade mounted between one end of the first frame in the second direction and the second frame and having a plane parallel to the first and third directions as a rotation surface;
The unmanned aerial vehicle according to any one of claims 1 to 5, further comprising:
The unmanned aerial vehicle according to any one of claims 1 to 6, further comprising a leg portion fixed to one side in the third direction of the second frame.