WO2017010439A1 - Unmanned aerial vehicle - Google Patents

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.

An unmanned aerial vehicle according to the present invention includes an outer frame formed by connecting a plurality of third rod-shaped members in a polygonal shape, and a plurality of fourth rod-shaped members arranged inside the outer frame and connected in a polygonal shape. It has an inner frame to be formed and a plurality of connecting members that connect the outer and inner frames, and a plurality of polygonal spaces are defined between the outer and inner frames by the plurality of connecting members, and are configured on one surface. A first frame to be
A second frame formed by connecting a plurality of fifth rod-shaped members in a polygonal shape, spaced apart from one side in a direction perpendicular to one surface from the first frame;
For at least one of the plurality of spaces, each of the polygonal vertices of the space is connected to a support point on the second frame located on one side of the orthogonal direction from the vicinity of the center of the space. An unmanned aerial vehicle including a plurality of connecting members.

According to this, each of each of the two connecting members and at least a plurality of points on the outer and inner frames that define at least one of the plurality of spaces partitioned in the first frame by the plurality of connecting members, It is connected to a support point on the second frame located on one side in the direction orthogonal from the center vicinity of the space. Thereby, the first and second frames are lightly and firmly connected by the connecting member assembled in a three-dimensional truss shape.

In the unmanned aerial vehicle of the present invention, the plurality of spaces have the same shape and the same size.

According to this, since the plurality of spaces have the same shape and the same size, the first frame can be assembled with equal strength. Further, when the rotor wing is provided as will be described later, the lift by the wing can be equally applied to the entire unmanned aircraft.

In the unmanned aerial vehicle of the present invention, the support point is located at least at the corner of the polygon related to the second frame.

According to this, since the support point is positioned at least at the corner of the polygon related to the second frame, the second frame is firmly connected to the first frame at the corner by the plurality of connecting members.

The unmanned aerial vehicle according to the present invention is attached to the support point on the second frame via a support member extending from the support point to the other side in the orthogonal direction, and a rotor blade having a plane parallel to the one surface as a rotation surface 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 of the present invention further includes a power source for the rotary wing disposed inside the inner frame.

According to this, the rotor blades can be driven by the power source arranged inside the inner frame.

The unmanned aerial vehicle of the present invention is characterized in that the fifth rod-shaped member is thicker than any of the third rod-shaped member, the fourth rod-shaped member, the plurality of connecting members, and the plurality of connecting members.

According to this, since the second frame is thicker than the other first frame and the plurality of connecting members, the second frame is firmly configured, and high strength against vibration of the rotor blades can be obtained.

The unmanned aerial vehicle of the present invention further includes a leg portion fixed to one side of the second frame in the direction perpendicular to the second frame.

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

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. (Example 1) 2A and 2B are a plan view and a side view, respectively, showing the overall configuration of the unmanned aerial vehicle. (Example 1) FIG. 3 is a plan view showing the configuration of the upper frame portion. (Example 1) 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. (Example 1) 5A and 5B are a plan view and a side view, respectively, showing the configuration of the leg portion. (Example 1) 6A and 6B are a plan view and a side view, respectively, showing the overall configuration of the unmanned aerial vehicle. (Example 2) 7A and 7B are a plan view and a side view, respectively, showing the overall configuration of the unmanned aerial vehicle. (Example 3) 8A and 8B are a plan view and a side view, respectively, showing the overall configuration of the unmanned aerial vehicle. Example 4

Hereinafter, examples of the present invention will be described.

1 and 2 show the entire configuration of the unmanned aerial vehicle 1 according to the present 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 upper 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 Sij (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, and 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- like 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 Sij (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 21a ₀ 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 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.

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, square Each of the four intersections of the plurality of rod-shaped members 11a to 11d and 12a to 12d corresponding to the four vertices is supported on the lower frame portion 20 located on one side in the third direction from the vicinity of the center of the four intersections. The four connecting members 31a, 31b, 31c, and 31d are connected to each other. 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.

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.

In the unmanned aerial vehicle 1 of the present embodiment, the upper frame portion 10 is configured by assembling a plurality of rod-like members 11a to 11d and 12a to 12d in a grid pattern. However, the present invention is not limited thereto, and the rectangular space Sij (i = 1 to 3, j = 1 to 3), the upper frame portion 10 may be configured by assembling nine frame members in a lattice pattern.

FIG. 6 shows the configuration of the unmanned aerial vehicle 1 according to the present embodiment. FIG. 3 is a diagram corresponding to FIG. 2 of the first embodiment. The main difference from the first 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.

As described above, the same effects as those of the first embodiment are obtained except that the support member 44 that supports the propeller is provided from above.

FIG. 7 shows the overall configuration of the unmanned aerial vehicle 101 according to the present embodiment. FIG. 7A is a top view showing the unmanned aerial vehicle 101 seen from above, and FIG. 7B is a side view showing the unmanned aerial vehicle 101 seen from the side. Here, the vertical direction in FIG. 7A and the vertical direction in FIG. The unmanned aerial vehicle 101 includes a frame 102, legs 150, a plurality of rotor blades 40, a power source 49, and a loading unit (not shown). In addition, the same code | symbol is attached | subjected about the part corresponding to each structure part in the unmanned aircraft 1 which concerns on Example 1, and detailed description is abbreviate | omitted.

The frame 102 is a structure that supports the entire unmanned aircraft 101, and includes an upper frame portion 110, a lower frame portion 120, and a connecting portion 130.

The upper frame part 110 constitutes the upper part of the frame 102, and is composed of an outer frame 111, an inner frame 112, and a plurality of connecting members 113, each arranged on one surface. For example, these members are pipe-shaped members made of a light metal such as stainless steel or a member such as carbon.

The outer frame 111 is a frame-like member that constitutes the outer frame of the upper frame portion 110, and is formed into a polygonal shape, particularly a regular polygon, by a plurality of rod-like members. In the present embodiment, the outer frame 111 is formed into a regular octagonal shape as an example. The outer frame 111 can be formed by connecting the above-described pipe-shaped members by welding, bolting, bonding, or the like, or by heat deformation.

The inner frame 112 is a frame-like member that constitutes the inner frame of the upper frame portion 110, and is formed into a polygonal shape, particularly a regular polygon, by a plurality of rod-like members. In this embodiment, as an example, the inner frame 112 is formed in the same regular octagonal shape as the outer frame 111, and the inner frame 112 is arranged so that the center coincides with the inner side of the outer frame 111 and the sides are parallel. Thereby, the upper frame part 110 can be comprised compactly. The inner frame 112 can be formed by connecting the above-mentioned pipe-shaped members by welding, bolting, adhesion, or the like, or by heat deformation.

The plurality of connection members 113 are rod-shaped members that connect the outer and inner frames 111 and 112. In the present embodiment, the plurality of connection members 113 includes a number corresponding to the shape of the outer and inner frames 111 and 112, that is, eight connection members 113, which are opposed to each other at the corners of the outer and inner frames 111 and 112. Each end portion is fixed between the corner portions by welding, bolt joining, adhesion, or the like. A plurality of (eight corresponding to the shapes of the outer and inner frames 111 and 112) spaces S ₁ to S ₈ are partitioned between the outer and inner frames 111 and 112 by the plurality of connecting members 113.

Here, the outer and inner frames 111 and 112 have the same polygonal shape, particularly a regular polygonal shape, the centers are matched, the sides are arranged in parallel, and the opposing corners are connected to the plurality of connecting members 113. The plurality of spaces S ₁ to S ₈ defined between the outer and inner frames 111 and 112 have the same shape (here, isosceles trapezoidal shape) and the same size. Thereby, the upper frame part 110 is assembled with equal strength.

The lower frame portion 120 is a frame-like member that constitutes the bottom frame of the frame 102 constituted by a plurality of rod-like members. The lower frame portion 120 can be formed by connecting, for example, a pipe-shaped member made of a light metal such as stainless steel or a member such as carbon by welding, bolt joining, adhesion, or the like, or by heat deformation. However, the lower frame portion 120 is thicker (larger in diameter) than the other upper frame portions 110 and the connecting portion 130. Thereby, the lower frame part 120 is firmly configured, and high strength against vibration of the rotor blade 40 is obtained.

The lower frame part 120 is configured in a polygonal shape, particularly a regular polygonal shape. In the present embodiment, the lower frame portion 120 is formed in the same regular octagonal shape as the inner frame 112 as an example, and the eight corner portions of each of the plurality of spaces S ₁ to S ₈ of the upper frame portion 110 when viewed from above. It is located in the vicinity of the center and is spaced apart from the upper frame portion 110 on one side in the height direction (ie, downward). Here, since the lower frame part 120 has the same shape as the inner frame 112, as will be described later, the upper and lower frame parts 110 and 120 can be connected by the connecting part 130 to form a strong three-dimensional truss.

The connecting part 130 connects the upper frame part 110 and the lower frame part 120. The connection part 130 includes eight connection member sets each including four connection members 131a, 131b, 131c, and 131d.

The eight connecting member sets are divided into two spaces that divide each space with respect to each of the plurality of spaces S ₁ to S ₈ defined between the outer and inner frames 111 and 112 by the plurality of connecting members 113 in the upper frame portion 110. Each of the connection member 113 and each of the plurality of points on the outer and inner frames 111 and 112 is on the lower frame portion 120 located on one side (that is, lower) in the height direction from the center (or the vicinity) of the space. Connect to multiple parts (called support points). Accordingly, the upper and lower frame parts 110 and 120 are assembled into a three-dimensional truss shape by the connecting part 130 and are lightly and firmly connected.

Here, the plurality of points on the upper frame part 110 that are connected to the support points of the lower frame part 120 by the connection member set include the intersections of the two connection members 113 that define each space and the inner frame 112. . Thereby, the upper frame part 110 is firmly connected to the support point on the lower frame part 120 by the connecting part 130 at the intersection. In addition, the plurality of points include intersections between the outer connection frame 111 and each of the two connection members 113 that partition each space. Thereby, the upper frame part 110 is firmly connected to the support point of the lower frame part 120 by the connecting part 130 at the intersection.

Further, the support points on the lower frame part 120 connected to the plurality of points on the upper frame part 110 by the connecting member set include at least the corners of the lower frame part 120. Thereby, the lower frame part 120 is firmly connected to the upper frame part 110 by the connecting part 130 at the corners. The support point may include, for example, the midpoint of each side portion of the lower frame portion 120 in addition to the corner portion.

As an example, the space _{S 8,} the intersections 113a of the connecting member 113 and the inner frame 112 corresponding to the lower right vertex and the lower left of the space _{S 8,} the 113b, respectively connecting member 131a, with the 131b, the lower frame portion connecting the supporting point 121 ₀ on 120. Similarly, the intersection 113c of the connecting member 113 and outer frame 111 corresponding to the vertices of the upper left and upper right of the space _{S 8,} the 113d, the connecting member 131c, with 131d, the support points 121 ₀ on the lower frame portion 120 Link. Thereby, a quadrangular pyramid solid truss is assembled by the connecting members 131a, 131b, 131c, 131d, the connecting member 113, and the outer and inner frames 111, 112, and the apex thereof is connected to the lower frame portion 120.

By the connecting portion 130 having the above-described configuration, the connecting members 131a, 131b, 131c, and 131d included in each connecting member set, the outer and inner frames 111 and 112 that constitute the upper frame portion 110, and the plurality of connecting members 113 are used. Three-dimensional trusses are assembled, and their vertices are connected to the lower frame portion 120. Thereby, the upper frame part 110 and the lower frame part 120 are lightly and firmly connected.

The leg portion 150 is fixed to the lower side of the frame 102 and is a portion that supports the unmanned aircraft 101 on a surface such as the ground surface, and includes a plurality of leg members 151. For example, each leg member is formed by deforming a pipe-shaped member made of a lightweight metal such as stainless steel into an L shape, with the lower end directed inward and the upper end fixed to a corner of the lower frame portion 120.

As described above, the plurality of rotor blades 40 generate lift or thrust necessary for the unmanned aircraft 101 to fly by rotating. Each of the plurality of rotor blades 40 includes two blades 41 and a motor (not shown). The two blades 41 have their distal ends spread in opposite directions on one surface, and the proximal 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 two blades 41 are fixed. In this embodiment, the number of blades is two, but may be arbitrarily designed. For example, it may be three or four.

Each of the plurality of rotor blades 40 is provided with support points 121 ₀ on the lower frame portion 120 via support members 43 in which the rotation surfaces of the two blades 41 are arranged in parallel in the horizontal direction and the height direction is the longitudinal direction. That is, it is attached to eight corners on the lower frame portion 120 to which the connecting members 131a, 131b, 131c, 131d included in the eight connecting member sets are connected. 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 part 110 and the lower frame part 120. Thereby, the rotor blades 40 are arranged in the spaces S ₁ to S ₈ defined by the upper frame part 110 in the top view, and in the three-dimensional truss constituted by the upper frame part 110 and the connecting part 130 in the side view. Arranged. In this way, the rotary blade 40 is protected by being surrounded by the members constituting the frame 102.

The power source 49 supplies power to the plurality of rotor blades 40 as described above. The power source 49 has a battery (not shown) that outputs electric power and a housing that houses the battery. The housing is disposed in a space S ₀ inside the inner frame 112 of the upper frame portion 110 and is fixed to a rod-like member constituting the inner frame 112. Accordingly, it is possible to drive by supplying electric power to the plurality of rotor blades 40 disposed in the spaces S ₁ to S ₈ defined between the outer and inner frames 111 and 112.

The loading unit (not shown) has a structure for loading cargo on the unmanned aerial vehicle 101, and can be configured in the same manner as the loading unit 60 described above.

As described above in detail, the unmanned aerial vehicle 101 according to this embodiment includes a plurality of outer frames 111 on one side, an inner frame 112 disposed on the inner side of the outer frame 111, and a plurality of outer and inner frames 111, 112. And a plurality of connecting members 113, and a plurality of connecting members 113 divide a plurality of spaces S ₁ to S ₈ between the outer and inner frames 111, 112. The lower frame portion 120 that is separated to one side in the orthogonal direction and the two connection members 113 that define the space of the plurality of connection members 113 and the outer and inner frames 111 for at least one of the plurality of spaces. , 112, each of the plurality of points on the lower frame portion 120 located on one side in the direction orthogonal to the vicinity of the center of the space Comprising a coupling portion 130 for coupling the the support points 121 _0. Thereby, the upper and lower frame portions 111 and 120 are lightly and firmly connected by the connecting portion 130 assembled in a three-dimensional truss shape.

In the present embodiment, the plurality of rotor blades 40 are attached to the lower frame portion 120. However, instead of this, the rotor blades 40 may be attached to the upper frame portion 110 as in the second embodiment.

As with the unmanned aerial vehicle 1 according to the first embodiment, the unmanned aerial vehicle 101 may further include an auxiliary rotor blade 48 that generates thrust for flying or changing the direction.

In the unmanned aerial vehicle 101 according to the present embodiment, the upper frame portion 110 is configured by connecting the outer and inner frames 111 and 112 using a plurality of connecting members 113. The upper frame portion 110 may be configured by assembling eight frame members that divide the spaces S ₁ to S ₈ into a ring shape.

In the unmanned aerial vehicle 1,101 according to the present embodiment, the upper frame portions 10, 110 (the outer frame 111 and the inner frame 112) and the lower frame portion 120 have the same polygonal shape, particularly square and regular octagonal regular polygonal shapes. However, those shapes may be arbitrary shapes. That is, it may be a regular polygon such as a regular hexagon. There will be an isosceles trapezoidal space divided by the number of corners.

Also, the shape may be other than the regular polygon. Such an example is shown in Example 4.

In the upper frame portion 110, the outer and inner frames 111 and 112 may have different shapes. The space S ₀ inside the inner frame 112 may have the same shape and the same size as the plurality of spaces partitioned between the outer and inner frames 111 and 112 by the plurality of connection members 113.

FIG. 8 shows the overall configuration of the unmanned aerial vehicle 201. FIG. 8A is a top view showing the unmanned aerial vehicle 201 seen from above, and FIG. 8B is a side view showing the unmanned aerial vehicle 201 seen from the side. Here, the vertical direction in FIG. 8A and the vertical direction in FIG. The unmanned aerial vehicle 201 includes a frame 202, legs 250, a plurality of rotor blades 40, a power source 49, and a loading unit (not shown). In addition, the same code | symbol is attached | subjected about the part corresponding to each structure part in the unmanned aircraft 1 which concerns on Example 1, and detailed description is abbreviate | omitted.

The frame 202 is a structure that supports the entire unmanned aerial vehicle 201, and includes an upper frame part 210, a lower frame part 220, and a connecting part 230.

The upper frame portion 210 constitutes an upper portion of the frame 202, and is composed of an outer frame 211, an inner frame 212, and a plurality of connecting members 213 that are arranged on one surface.

The outer frame 211 is a frame-like member that constitutes the outer frame of the upper frame portion 210, and is formed into a polygonal shape by a plurality of rod-like members. In this embodiment, the outer frame 211 is formed into an outer shape formed by arranging seven regular hexagons in a hexagonal lattice shape (honeycomb shape) as an example.

The inner frame 212 is a frame-shaped member that constitutes the inner frame of the upper frame portion 210. In this embodiment, the inner frame 212 is formed into a regular hexagonal shape by a plurality of rod-shaped members, and the center is aligned with the inner side of the outer frame 211. The portion is arranged parallel to the outermost side of the outer frame 211.

The plurality of connecting members 213 are rod-shaped members that connect the outer and inner frames 211 and 212. In the present embodiment, the plurality of connection members 113 include six connection members 213 corresponding to the shape of the inner frame 212, and the gaps between the inner bent portion of the outer frame 211 and the corner portions of the inner frame 212 are opposed to each other. Each end is fixed by welding, bolting, bonding or the like. A plurality of (six corresponding to the shapes of the outer and inner frames 211, 212) spaces S ₁ to S ₆ are partitioned between the outer and inner frames 211, 212 by the plurality of connecting members 213.

Here, a plurality of spaces _S 1 ~ _{S 6} which is defined between the outer and inner frames 211 and 212 using a plurality of connecting members 213, including the space _{S 0} inside the inner frame 212, the same shape ( Here, it has a regular hexagonal shape) and the same size. Thereby, the upper frame part 110 is assembled with a compact and uniform strength.

The lower frame portion 220 is a frame-like member that constitutes the bottom frame of the frame 202 constituted by a plurality of rod-like members. The lower frame part 220 is thicker (larger in diameter) than the other upper frame part 210 and the connecting part 230. Thereby, the lower frame part 220 is firmly configured, and high strength against vibration of the rotary blade 40 is obtained.

The lower frame portion 220 is formed in the same regular hexagonal shape as the inner frame 212 in this embodiment, and its six corners are located near the center of each of the plurality of spaces S ₁ to S ₆ of the upper frame portion 210 in a top view. It is located and spaced apart from the upper frame part 210 on one side in the height direction (that is, downward). Here, since the lower frame part 220 has the same shape as the inner frame 212, as will be described later, the upper and lower frame parts 210 and 220 can be connected by the connecting part 230 to form a solid three-dimensional truss.

The connecting part 230 connects the upper frame part 210 and the lower frame part 220. The connection part 230 includes six connection member sets each including four connection members 231a, 231b, 231c, and 231d.

The six connecting member sets are divided into two spaces that divide each space with respect to each of the plurality of spaces S ₁ to S ₆ partitioned between the outer and inner frames 211 and 212 by the plurality of connecting members 213 in the upper frame portion 210. Each of the connection member 213 and each of the plurality of points on the outer and inner frames 211 and 212 is on the lower frame portion 220 located on one side (that is, lower) in the height direction from the center (or the vicinity thereof) of the space. Connect to multiple parts (called support points). As a result, the upper and lower frame portions 210 and 220 are assembled into a three-dimensional truss shape by the connecting portion 230 and are lightly and firmly connected.

Here, the plurality of points on the upper frame part 210 that are connected to the support points of the lower frame part 220 by the connecting member set include the intersections of the two connection members 213 that define each space and the inner frame 212. . Thereby, the upper frame part 210 is firmly connected to the support point on the lower frame part 220 by the connecting part 230 at the intersection. Further, the plurality of points include the bending points of the outer frame 211. Accordingly, the upper frame portion 210 is firmly connected to the support point of the lower frame portion 220 by the connecting portion 230 at the bending point.

Further, the support points on the lower frame part 220 connected to the plurality of points on the upper frame part 210 by the connection member set include at least the corners of the lower frame part 220. Thereby, the lower frame portion 220 is firmly connected to the upper frame portion 210 by the connecting portion 230 at the corner portion.

As an example, the space _{S 6,} the intersection 213a between the connecting member 213 and the inner frame 212 corresponding to the lower right vertex and lower middle of the space _{S 6,} the 213b, respectively connecting member 231a, with the 231b, the lower frame Connected to support point 2210 on portion 220. Similarly, the bending point 213c of the outer frame 211 corresponding to the vertex on the upper left and middle spaces _{S 6,} the 213d, the connecting member 231c, with 231d, is connected to the support point 2210 on the lower frame portion 220. Thereby, a quadrangular pyramid solid truss is assembled by the connecting members 231a, 231b, 231c, 231d, the connecting member 213, and the outer and inner frames 211, 212, and the apex thereof is connected to the lower frame portion 220.

By the connecting portion 230 having the above-described configuration, the connecting members 231a, 231b, 231c, and 231d included in each connecting member set, the outer and inner frames 211 and 212 that constitute the upper frame portion 210, and a plurality of connecting members 213 are provided. Three-dimensional trusses are assembled, and their vertices are connected to the lower frame part 220. Thereby, the upper frame part 210 and the lower frame part 220 are lightly and firmly connected.

The leg portion 250 is fixed to the lower side of the frame 202 and is a portion that supports the unmanned aircraft 201 on a surface such as the ground surface, and includes a plurality of leg members 251. Each leg member is configured in the same manner as the above-described leg member 151, and is fixed to a corner portion of the lower frame portion 220.

As described above, the plurality of rotor blades 40 generate lift or thrust necessary for the unmanned aircraft 101 to fly by rotating. The configuration is as described above.

Each of the plurality of rotor blades 40 has a support point 2210 on the lower frame portion 220 via a support member 43 in which the rotation surfaces of the two blades 41 are arranged in parallel in the horizontal direction and the height direction is the longitudinal direction. The connecting members 231a, 231b, 231c, and 231d included in the six connecting member sets are attached to the six corners on the lower frame portion 220 to which the connecting members 231a, 231b, 231c, and 231d are connected. 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 part 210 and the lower frame part 220. Thereby, the rotor blades 40 are arranged in the spaces S ₁ to S ₆ defined by the upper frame portion 210 in the top view, and in the three-dimensional truss constituted by the upper frame portion 210 and the connecting portion 230 in the side view. Arranged. Thus, the rotary blade 40 is protected by being surrounded by the members constituting the frame 202.

As with the unmanned aerial vehicle 1 according to the first embodiment, an auxiliary rotor blade 48 that generates thrust for the unmanned aircraft 201 to fly or change direction may be provided.

The power source 49 supplies power to the plurality of rotor blades 40 as described above. The power source 49 has a battery (not shown) that outputs electric power and a housing that houses the battery. Housing is disposed in the space S ₀ inside of the inner frame 212 of the upper frame portion 210 is fixed to the rod-like member constituting the inner frame 212. As a result, it is possible to drive by supplying electric power to the plurality of rotor blades 40 disposed in the spaces S ₁ to S ₆ defined between the outer and inner frames 211 and 212.

The loading unit (not shown) has a structure for loading cargo on the unmanned aerial vehicle 201, and can be configured in the same manner as the loading unit 60 described above.

As described in detail above, the unmanned aerial vehicle 201 according to the present embodiment includes a plurality of outer frames 211 on one side, an inner frame 212 disposed on the inner side of the outer frame 211, and outer and inner frames 211 and 212. A plurality of connecting members 213, and a plurality of connecting members 213 define a plurality of spaces S ₁ to S ₈ between the outer and inner frames 211 and 212, and the upper frame portion 210 extends from the upper frame portion 210. The lower frame part 220 that is separated to one side in the orthogonal direction, and the two connection members 113 that define the space of the plurality of connection members 213 and the outer and inner frames 211 for at least one of the plurality of spaces. , 212, each of the plurality of points on the lower frame part 220 located on one side in the direction orthogonal to the vicinity of the center of the space. Comprising a coupling portion 230 for coupling the the support point 2210. Thereby, the upper and lower frame parts 211 and 220 are lightly and firmly connected by the connecting part 230 assembled in a three-dimensional truss shape.

In the present embodiment, the plurality of rotor blades 40 are mounted on the lower frame portion 220. However, instead of this, it may be mounted on the upper frame portion 210 as in the second embodiment.

In the unmanned aerial vehicle 201 according to the present embodiment, the upper frame portion 210 is configured by connecting the outer and inner frames 211 and 212 using a plurality of connecting members 213. The upper frame portion 210 may be configured by assembling seven frame members that divide S ₀ to S ₆ into six grids.

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

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 support member 61d support member 101 unmanned aircraft 102 frame 110 upper frame part 111 outer frame 112 inner frame 113 connection member 113a intersection 113b intersection 113c intersection 113d intersection 120 lower frame part 121 ₀ support point 130 connection part 131a connection member 131b connection member 131b 131c connecting member 131d connecting member 150 leg 151 leg member 201 unmanned aerial vehicle 202 frame 210 Upper frame portion 211 Outer frame 212 Inner frame 213 Connection member 213a Intersection point 213b Intersection point 213c Bend point 213d Bend point 220 Lower frame portion 221 ₀ Support point 230 Connection portion 231a Connection member 231b Connection member 231c Connection member 231d Connection member 250 Leg portion 251 Leg Members S ₀ space S ₁ space S ₂ space S ₃ space S ₄ space S ₅ space S ₆ space S ₇ space S ₈ space S ₁₁ space S ₁₂ space S ₁₃ space S ₂₁ space S ₂₂ space S ₂₃ space S ₃₁ space S ₃₂ spaces S ₃₃ spaces

Claims (14)

1. 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.
2. 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. 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.
4. 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. 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.
6. 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 attached between one end of the first frame in the second direction and the second frame and having a surface parallel to the first and third directions as a rotation surface; The unmanned aerial vehicle according to any one of claims 1 to 5.
7. 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.
8. An outer frame formed by connecting a plurality of third rod-shaped members in a polygonal shape; an inner frame formed by connecting a plurality of fourth rod-shaped members in a polygonal shape disposed inside the outer frame; A plurality of connecting members connecting the outer and inner frames, and a plurality of polygonal spaces are defined between the outer and inner frames by the plurality of connecting members, and a first frame configured on one surface When,
   A second frame formed by connecting a plurality of fifth rod-shaped members in a polygonal shape, spaced apart from the first frame to one side in a direction perpendicular to the one surface;
   For at least one of the plurality of spaces, each vertex of the polygon related to the space is used as a support point on the second frame located on one side in the orthogonal direction from the vicinity of the center of the space. A plurality of connecting members to be connected;
   An unmanned aircraft equipped with.
9. The unmanned aircraft according to claim 8, wherein the plurality of spaces have the same shape and the same size.
10. The unmanned aerial vehicle according to claim 8 or 9, wherein the support point is located at least at a corner of a polygon related to the second frame.
11. The rotating blade having a surface parallel to the one surface as a rotation surface, which is attached to the support point on the second frame via a support member extending from the support point to the other side in the orthogonal direction. The unmanned aerial vehicle according to any one of 8 to 10.
12. The unmanned aerial vehicle according to claim 11, further comprising a power source for the rotary wing disposed inside the inner frame.
13. The fifth rod-shaped member is thicker than any of the third rod-shaped member, the fourth rod-shaped member, the plurality of connecting members, and the plurality of connecting members. An unmanned aerial vehicle according to any one of the above.
14. The unmanned aerial vehicle according to any one of claims 8 to 13, further comprising a leg portion fixed to one side of the second frame in the orthogonal direction.

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