WO2021074986A1 - 飛行体 - Google Patents
飛行体 Download PDFInfo
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- WO2021074986A1 WO2021074986A1 PCT/JP2019/040598 JP2019040598W WO2021074986A1 WO 2021074986 A1 WO2021074986 A1 WO 2021074986A1 JP 2019040598 W JP2019040598 W JP 2019040598W WO 2021074986 A1 WO2021074986 A1 WO 2021074986A1
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- Prior art date
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- 238000012986 modification Methods 0.000 description 10
- 230000004048 modification Effects 0.000 description 10
- 238000012545 processing Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 229910052749 magnesium Inorganic materials 0.000 description 1
- 239000011777 magnesium Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/33—Rotors having flexing arms
Definitions
- the present invention relates to an air vehicle.
- flying objects such as drones and unmanned aerial vehicles (UAVs) have become widespread.
- flying objects such as drones and unmanned aerial vehicles (UAVs)
- UAVs unmanned aerial vehicles
- a multicopter type having a plurality of rotor blades can be mentioned (see, for example, Patent Document 1).
- one object of the present invention is to provide an airframe capable of efficiently reducing the horizontal dimension of the airframe.
- the flying object according to the present invention has two first frames arranged in a second direction intersecting the first direction with the first direction as the longitudinal direction, and the second frame having the second direction as the longitudinal axis and superposed on the two first frames.
- the second frame includes two second frames arranged in the first direction, a first rotor attached to both ends of the first frame, and a second rotor attached to both ends of the second frame.
- the frame is provided with a hinge portion capable of folding the second frame in the middle thereof.
- the flying object according to the embodiment of the present invention has the following configuration.
- the first rotor blades attached to both ends of the first frame and A second rotor blade attached to both ends of the second frame is provided.
- the second frame is provided with a hinge portion capable of folding the second frame in the middle thereof.
- Aircraft [Item 2] The flying object according to item 1.
- the second frame When the second frame is in the folded position, it is folded in pairs and The pair is composed of a first arm and a second arm that are folded so as to overlap each other in a side view.
- Aircraft. [Item 3] The flying object according to item 1 or item 2.
- the two first frames are laid horizontally on the two second frames in a grid pattern. Aircraft.
- the flying object 1 includes a rotary blade 2, a motor 3 for rotating the rotary blade 2, and a frame 4 to which the motor 3 is attached. There is.
- the rotor blade 2 rotates in response to the output from the motor 3.
- the rotation of the rotor 2 generates a propulsive force for taking off the flying object 1 from the starting point, moving it horizontally, and landing it at the destination.
- the rotary blade 2 can rotate to the right, stop, and rotate to the left.
- the blade has an elongated shape. Any number of blades (rotors) (eg, 1, 2, 3, 4, or more blades) may be used. Further, the shape of the blade can be any shape such as a flat shape, a bent shape, a twisted shape, a tapered shape, or a combination thereof. The shape of the blade can be changed (for example, expansion / contraction, folding, bending, etc.). The blades may be symmetrical (having the same upper and lower surfaces) or asymmetric (having different shaped upper and lower surfaces). The blades can be formed into air wheels, wings, or geometric shapes suitable for generating dynamic aerodynamic forces (eg, lift, thrust) as the blades move through the air. The geometry of the blades can be appropriately selected to optimize the dynamic air characteristics of the blades, such as increasing lift and thrust and reducing drag.
- rotors e. 1, 2, 3, 4, or more blades
- the shape of the blade can be any shape such as a flat shape, a bent shape, a twisted shape,
- the motor 3 causes the rotary blades 2 to rotate.
- the drive unit can include an electric motor, an engine, or the like.
- the vanes are driveable by the motor and rotate clockwise and / or counterclockwise around the axis of rotation of the motor (eg, the major axis of the motor).
- the blades can all rotate in the same direction, or can rotate independently. Some of the blades rotate in one direction and the other blades rotate in the other direction.
- the blades can all rotate at the same rotation speed, and can also rotate at different rotation speeds.
- the number of rotations can be automatically or manually determined based on the dimensions (for example, size, weight) and control state (speed, moving direction, etc.) of the moving body.
- the frame 4 is a member that supports the corresponding motor 3 and rotary blade 2, respectively.
- the frame 4 may be provided with a color-developing body such as an LED to indicate the flight state, flight direction, etc. of the rotary wing aircraft.
- the frame 4 according to the present embodiment can be formed of a material appropriately selected from carbon, stainless steel, aluminum, magnesium and the like, alloys or combinations thereof.
- the frame 4 includes two first frames 40 and 40 and two second frames 41 and 41.
- the first frames 40 and 40 are horizontally laid on the second frames 41 and 41 in a grid pattern.
- the first frames 40, 40 and the second frames 41, 41 are connected to each other by a conventionally known method.
- the first frames 40, 40 are arranged at predetermined intervals along the X direction (second direction) intersecting the first direction with the Y direction (first direction) as the longitudinal direction. There is. First rotary blades 20 are attached to both ends of the first frames 40 and 40.
- the second frames 41, 41 are overlapped with the two first frames 40, 40 with the X direction (second direction) as the longitudinal direction, and are spaced apart from each other along the Y direction (first direction). They are lined up. Second rotors 21 are attached to both ends of the second frames 41 and 41. As shown in FIG. 4, the second frames 41 and 41 are provided with a hinge portion 42 capable of folding the second frames 41 and 41 in the middle thereof.
- the second frames 41 and 41 when the second frames 41 and 41 are in the folded position, the second frames 41 and 41 are folded in pairs. As shown in FIG. 4, the pair is composed of a first arm 41A and a second arm 41B that are folded so as to overlap each other in a side view. As shown in FIG. 3, in a plan view, the first arm 41A and the second arm 41B are square spaces partitioned by two first frames 40 and 40 and two second frames 41 and 41. It is arranged outside S.
- the airframe 1 of the present embodiment by making the second frames 41 and 41 foldable, the horizontal dimension of the airframe can be efficiently reduced, and the airframe 1 that is easy to use in the field is provided. it can. Further, it is possible to reduce the trouble of attaching and detaching the second frames 41 and 41.
- the above-mentioned flying object has a functional block shown in FIG.
- the functional block in FIG. 5 has a minimum reference configuration.
- the flight controller is a so-called processing unit.
- the processing unit can have one or more processors, such as a programmable processor (eg, a central processing unit (CPU)).
- the processing unit has a memory (not shown), and the memory can be accessed.
- Memory stores logic, code, and / or program instructions that a processing unit can execute to perform one or more steps.
- the memory may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device.
- the data acquired from the cameras and sensors may be directly transmitted and stored in the memory. For example, still image / moving image data taken by a camera or the like is recorded in an internal memory or an external memory.
- the processing unit includes a control module configured to control the state of the aircraft.
- the control module adjusts the spatial placement, velocity, and / or acceleration of an air vehicle with six degrees of freedom (translational motion x, y and z, and rotational motion ⁇ x , ⁇ y and ⁇ z).
- the control module can control one or more of the states of the mounting unit and the sensors.
- the processing unit is capable of communicating with a transmitter / receiver configured to transmit and / or receive data from one or more external devices (eg, terminals, display devices, or other remote controls).
- the transmitter / receiver can use any suitable communication means such as wired communication or wireless communication.
- the transmitter / receiver uses one or more of local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication, and the like. be able to.
- the transmitter / receiver can transmit and / or receive one or more of the data acquired by the sensors, the processing result generated by the processing unit, the predetermined control data, the user command from the terminal or the remote control, and the like. ..
- the sensors according to this embodiment may include an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).
- an inertial sensor accelerelerometer, gyro sensor
- GPS sensor GPS sensor
- proximity sensor eg, rider
- vision / image sensor eg, camera
- the air vehicle of the present invention can be expected to be used as an air vehicle dedicated to home delivery business and as an industrial air vehicle in warehouses and factories. Further, the air vehicle of the present invention can be used in an airplane-related industry such as a multicopter drone, and further, the present invention can be suitably used as an air vehicle for aerial photography equipped with a camera or the like. In addition, it can be used in various industries such as security field, agriculture, and infrastructure monitoring.
- (First modification) 6 and 7 are views showing a first modification of the frame structure in the flying object of the present invention.
- this modification as shown in FIG. 6, with respect to the square space S partitioned by the two first frames 40, 40 and the two second frames 41, 41, the four vertices of the square of the space S Is defined clockwise as V1 to V4.
- the frame structure is opposite to that of the first arm 41A extending in the X direction starting from the midpoint between vertices V1 and V2 and the first arm 41A starting from the midpoint between vertices V3 and V4.
- a second arm 41B extending in the X direction is provided.
- the frame structure is provided with a hinge portion 42A in which the first arm 41A can be folded downward and a hinge portion 42B in which the second arm 41B can be folded downward.
- a hinge portion 42A in which the first arm 41A can be folded downward
- a hinge portion 42B in which the second arm 41B can be folded downward.
- FIG. 8 is a diagram showing a second modification of the frame structure in the flying object of the present invention.
- the first arm 41A is detachably connected to the first frame 40.
- the second arm 41B is also removably connected to the first frame 40.
- the first arm 41A and the second arm 41B can be separated from the first frame 40, so that the horizontal dimension of the machine body can be efficiently reduced, and it is easy to use in the field. Can provide a good airframe.
- Aircraft 20 1st Rotor 21 2nd Rotor 40 1st Frame 41 2nd Frame 41A 1st Arm 41B 2nd Arm 42 Hinge
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
Description
[項目1]
第1方向を長手として前記第1方向に交差する第2方向に並ぶ2つの第1フレームと、
前記第2方向を長手として、前記2つの第1フレームに重ねて前記第1方向に並ぶ2つの第2フレームと、
前記第1フレームの両端部に取付けられる第1回転翼と、
前記第2フレームの両端部に取付けられる第2回転翼と、を備え、
前記第2フレームには、該第2フレームをその中途で折り畳み可能なヒンジ部が設けられている、
飛行体。
[項目2]
項目1に記載の飛行体であって、
前記第2フレームが折り畳まれた位置にあるときに、対になって折り畳まれ、
前記対が、側面視において、互いに重なるように折り畳まれる第1アームと第2アームとから構成される、
飛行体。
[項目3]
項目1又は項目2に記載の飛行体であって、
前記2つの第1フレームは、前記2つの第2フレームに井桁状に横架されている、
飛行体。
以下、本発明の実施の形態による飛行体について、図面を参照しながら説明する。
図1に示されるように、本発明の実施の形態による飛行体1は、回転翼2と、回転翼2を回転させるためのモータ3と、モータ3が取り付けられているフレーム4とを備えている。
図6及び図7は、本発明の飛行体におけるフレーム構造の第1変形例を示す図である。本変形例では、図6に示すように、2つの第1フレーム40,40と、2つの第2フレーム41,41とにより区画される方形状の空間Sについて、空間Sの方形の4つの頂点を時計回りにV1~V4と定義している。フレーム構造は、図6に示すように、頂点V1と頂点V2の中間点を始点としてX方向に延びる第1アーム41Aと、頂点V3と頂点V4の中間点を始点として第1アーム41Aと反対にX方向に延びる第2アーム41Bとを備える。図7に示すように、フレーム構造には、第1アーム41Aを下方に折り畳み可能なヒンジ部42Aと、第2アーム41Bを下方に折り畳み可能なヒンジ部42Bが設けられている。本変形例のフレーム構造によれば、第1アーム41A及び第2アーム41Bを折り畳み式にすることで、機体の水平寸法を効率的に縮小することが可能となり、現場の使い勝手が良い飛行体を提供できる。さらに第1アーム41A及び第2アーム41Bを着脱する手間を減らすこともできる。
図8は、本発明の飛行体におけるフレーム構造の第2変形例を示す図である。本変形例では、第1アーム41Aが第1フレーム40に取り離し可能に連結される。同様に、第2アーム41Bも第1フレーム40に取り離し可能に連結される。本変形例のフレーム構造によれば、第1アーム41A及び第2アーム41Bが第1フレーム40から取り離し可能であるため、機体の水平寸法を効率的に縮小することが可能となり、現場の使い勝手が良い飛行体を提供できる。
20 第1回転翼
21 第2回転翼
40 第1フレーム
41 第2フレーム
41A 第1アーム
41B 第2アーム
42 ヒンジ部
Claims (3)
- 第1方向を長手として前記第1方向に交差する第2方向に並ぶ2つの第1フレームと、
前記第2方向を長手として、前記2つの第1フレームに重ねて前記第1方向に並ぶ2つの第2フレームと、
前記第1フレームの両端に取付けられる第1回転翼と、
前記第2フレームの両端に取付けられる第2回転翼と、を備え、
前記第2フレームには、該第2フレームをその中途で折り畳み可能なヒンジ部が設けられている、
飛行体。 - 請求項1に記載の飛行体であって、
前記第2フレームが折り畳まれた位置にあるときに、対になって折り畳まれ、
前記対が、側面視において、互いに重なるように折り畳まれる第1アームと第2アームとから構成される、
飛行体。 - 請求項1又は請求項2に記載の飛行体であって、
前記2つの第1フレームは、前記2つの第2フレームに井桁状に横架されている、
飛行体。
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JP2019556722A JPWO2021074986A1 (ja) | 2019-10-16 | 2019-10-16 | |
PCT/JP2019/040598 WO2021074986A1 (ja) | 2019-10-16 | 2019-10-16 | 飛行体 |
CN201980100843.XA CN114450223A (zh) | 2019-10-16 | 2019-10-16 | 飞行体 |
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PCT/JP2019/040598 WO2021074986A1 (ja) | 2019-10-16 | 2019-10-16 | 飛行体 |
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CN (1) | CN114450223A (ja) |
WO (1) | WO2021074986A1 (ja) |
Citations (5)
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CN204399473U (zh) * | 2014-12-12 | 2015-06-17 | 华南农业大学 | 一种折叠快拆式多旋翼无人飞行器 |
KR20170135579A (ko) * | 2016-05-31 | 2017-12-08 | 김성남 | 슬라이드 암이 적용된 다목적 드론 |
WO2018103457A1 (zh) * | 2016-12-09 | 2018-06-14 | 北京京东尚科信息技术有限公司 | 无人机 |
US10183747B1 (en) * | 2016-08-26 | 2019-01-22 | Kitty Hawk Corporation | Multicopter with boom-mounted rotors |
US20190084673A1 (en) * | 2016-05-28 | 2019-03-21 | SZ DJI Technology Co., Ltd. | Foldable uav |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6465205B2 (ja) * | 2015-04-03 | 2019-02-06 | 株式会社Soken | 飛行体 |
CN105314101A (zh) * | 2015-10-27 | 2016-02-10 | 重庆光煦科技有限公司 | 一种折叠型多旋翼植保无人机 |
JP2017109626A (ja) * | 2015-12-17 | 2017-06-22 | 株式会社ザクティ | 飛行体 |
CN105667785A (zh) * | 2016-03-08 | 2016-06-15 | 哈尔滨飞机工业集团有限责任公司 | 一种柔性梁式尾桨柔性梁与中央件配合安装方法 |
KR101804333B1 (ko) * | 2017-07-26 | 2017-12-04 | (주)테크맥스텔레콤 | 방송모듈 및/또는 접을 수 있는 아암을 갖는 무인 비행체 |
JP6528055B1 (ja) * | 2018-04-25 | 2019-06-12 | 株式会社プロドローン | 無人航空機 |
CN109263886A (zh) * | 2018-10-30 | 2019-01-25 | 佛山市神风航空科技有限公司 | 一种多旋翼飞行器 |
CN109305322A (zh) * | 2018-12-01 | 2019-02-05 | 佛山市南海雅事达模型有限公司 | 一种笼架式可折叠多旋翼重载大型无人机 |
CN109625257A (zh) * | 2018-12-27 | 2019-04-16 | 顺丰科技有限公司 | 物流无人机 |
-
2019
- 2019-10-16 CN CN201980100843.XA patent/CN114450223A/zh active Pending
- 2019-10-16 WO PCT/JP2019/040598 patent/WO2021074986A1/ja active Application Filing
- 2019-10-16 JP JP2019556722A patent/JPWO2021074986A1/ja active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN204399473U (zh) * | 2014-12-12 | 2015-06-17 | 华南农业大学 | 一种折叠快拆式多旋翼无人飞行器 |
US20190084673A1 (en) * | 2016-05-28 | 2019-03-21 | SZ DJI Technology Co., Ltd. | Foldable uav |
KR20170135579A (ko) * | 2016-05-31 | 2017-12-08 | 김성남 | 슬라이드 암이 적용된 다목적 드론 |
US10183747B1 (en) * | 2016-08-26 | 2019-01-22 | Kitty Hawk Corporation | Multicopter with boom-mounted rotors |
WO2018103457A1 (zh) * | 2016-12-09 | 2018-06-14 | 北京京东尚科信息技术有限公司 | 无人机 |
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