Holder mechanism and unmanned aerial vehicle

Abstract

A pan-tilt mechanism includes: a bracket configured to be fixed to a fuselage of an unmanned aerial vehicle; a first frame attached to the bracket and configured to be rotatable in a first direction, the first direction being a yaw direction or a pitch direction; a second frame attached to the first frame and configured to be rotatable in a second direction, which is the other one of the yaw direction or the pitch direction, and configured to fix a motor for rotating the propeller; and a crank member configured to be connected to a servo motor provided at the body, crank-rotating the linkage to rotate the second frame. The second frame is connected to the linkage via a crank member by a link ball configured to be located on a central axis of the fuselage in the first direction.

Description

Technical Field

[0001] The present disclosure relates to a pan-tilt mechanism capable of controlling the directions of a propeller and a motor and an unmanned aerial vehicle equipped with the pan-tilt mechanism. Background Art

[0002] For example, a radio-controlled aircraft is called a fixed-wing unmanned aerial vehicle. In the case of a radio-controlled aircraft, a propeller and a motor that rotates the propeller are mounted on the nose, and the rotation of the propeller provides thrust for flight. The direction of flight is controlled by control surfaces (rudder, elevator, aileron) mounted on the fixed wing.

[0003] Japanese Laid-Open Patent No. 2006-075321 discloses a structure of a spinner unit for an electronic radio-controlled model aircraft. Summary of the invention

[0004] Recently, a new way of flying radio-controlled aircraft has become popular, called "4D flying." This is aerobatic flying in which the nose of the radio-controlled aircraft is pointed toward the ground during normal flight, and the aircraft rises in an inverted position by counter-rotating propellers.

[0005] However, in the case of flying backwards while counter-rotating propellers, the control surfaces are exposed to the wind behind, which makes it impossible to control the direction using the control surfaces.

[0006] Therefore, the present disclosure provides a gimbal mechanism that can control flight and achieve smooth gimbal operation by freely changing the direction of a power motor.

[0007] The gimbal mechanism according to the present disclosure includes: a bracket, which is configured to be fixed to the fuselage of an unmanned aerial vehicle; a first frame, which is attached to the bracket and is configured to be rotatable in a first direction, the first direction being a yaw direction or a pitch direction; a second frame, which is attached to the first frame and is configured to be rotatable in a second direction, and is configured to fix a motor for rotating a propeller, the second direction being the other of the yaw direction or the pitch direction; and a crank member, which is configured to be connected to a servo motor arranged at the fuselage, and to rotate a linkage device with a crank to rotate the second frame, wherein the second frame is connected to the linkage device via the crank member through a connecting rod ball, and the connecting rod ball is configured to be located on the central axis of the fuselage in the first direction.

[0008] By using a crank member, the linkage along with the servo motor can be connected to the con-rod ball at a closer to right angle.

[0009] Further, the gimbal mechanism according to the present disclosure includes: a bracket, which is constructed to be fixed to the fuselage of an unmanned aerial vehicle; a first frame, which is attached to the bracket and is constructed to be able to rotate in a first direction, the first direction being the yaw direction or the pitch direction; and a second frame, which is attached to the first frame and is constructed to be able to rotate in a second direction, and is constructed to fix a motor for rotating a propeller, the second direction being the other of the yaw direction or the pitch direction; a crank member, which is constructed to be connected to a servo motor arranged at the fuselage, and to rotate a linkage device with the crank to rotate the second frame, wherein the intersection between the rotation axis of the first frame in the first direction and the rotation axis of the second frame in the second direction is located on the central axis of the fuselage.

[0010] The rotation axis in the yaw direction and the rotation axis in the pitch direction are formed on the same imaginary plane and intersect each other. In other words, the rotation axes are not in a twisted positional relationship. The intersection of the rotation axes is located on the central axis of the fuselage.

[0011] The unmanned aerial vehicle disclosed in the present invention is an aerial vehicle equipped with a pan-tilt mechanism.

[0012] According to the present disclosure, by providing a gimbal mechanism equipped with a propeller and a motor, the directions of the propeller and the motor can be randomly changed, which makes it possible to increase the possibility of aerobatic flights such as 4D flight.

[0013] The pan / tilt mechanism may be connected to the con-rod ball at a nearly right angle by connecting the second frame to a linkage with a servo motor via a crank member.

[0014] Further, according to the present disclosure, by positioning the intersection of the rotation axis in the yaw direction and the rotation axis in the pitch direction on the central axis of the aircraft, the swing width of the frame when rotating each axis can be reduced, and rotation in the pitch and yaw directions can be effectively performed without unnecessarily increasing the rotation angle of the frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a perspective view of a radio-controlled aircraft according to an embodiment of the present invention.

[0016] Figure 2 A pan / tilt linkage device according to an embodiment is described.

[0017] Figure 3 A pan / tilt linkage device according to an embodiment is described.

[0018] Figure 4 is an exploded perspective view of a pan / tilt mechanism according to an embodiment.

[0019] Figure 5is a front view of a pan / tilt mechanism according to an embodiment.

[0020] Figure 6 is a rear view of the pan / tilt mechanism according to an embodiment.

[0021] Figure 7 It is a plan view of a pan / tilt mechanism according to an embodiment.

[0022] Figure 8 is a side view of a pan / tilt mechanism according to an embodiment.

[0023] Fig. 9 is a side view of a pan / tilt mechanism that rotates in a pitch direction according to an embodiment.

[0024] Fig.10 The connection of the connecting rod and the ball according to the embodiment is described.

[0025] Fig.11 The relationship between the pitch axis and the yaw axis according to the embodiment is explained.

[0026] Fig.12 An unused crank tube is illustrated.

[0027] Fig.13 An unused crank tube is illustrated.

[0028] Fig.14 An unused crank tube is illustrated.

[0029] Fig.15 The case where the crank tube is used according to the embodiment is described.

[0030] Fig.16 The case where the crank tube is used according to the embodiment is described. DETAILED DESCRIPTION

[0031] Hereinafter, embodiments of the present invention will be described using an example of a radio-controlled aircraft and a pan / tilt mechanism attached to the nose of the radio-controlled aircraft.

[0032] In the following description, the propeller side of the radio-controlled aircraft is defined as the front side, and the left and right directions are defined when viewed from the rear side of the aircraft toward the nose. Further, in the normal posture ( Figure 1 The posture in the middle is limited up and down.

[0033] Figure 1 A fuselage 1 of a radio-controlled aircraft is shown. The main part of the fuselage 1 is formed of a vertical portion 1a and a horizontal portion 1b. A main wing 1c and a horizontal tail 1e are formed to extend from the horizontal portion 1b in the left-right direction, and a vertical tail 1d is formed to extend upward from the vertical portion 1a at the rear side of the fuselage.

[0034] The pan-tilt mechanism 3 is attached to the nose of the fuselage 1. The motor 10 that rotates the propeller 2 is fixed to the pan-tilt mechanism 3. The pan-tilt mechanism 3 is configured to rotate around two axes (i.e., the yaw direction and the pitch direction) so that the direction of the propeller 2 can be changed from the direction of the central axis Jb of the fuselage 1 to the yaw direction dy and the pitch direction dp. In other words, attitude control can be performed by controlling the direction of the propeller 2.

[0035] As will be described in detail later, the pan / tilt mechanism 3 has a bracket 40 attached to the nose of the airframe 1 , a yaw frame 30 attached to the bracket 40 , and a pitch frame 20 attached to the yaw frame 30 .

[0036] The motor 10 is fixed to the pitch frame 20 , and the propeller 2 is attached to the rotation shaft of the motor 10 .

[0037] Figure 2 and Figure 3 The structure of the linkage device between the pan-tilt mechanism 3 and the servo motor is shown. Figure 2 shows the fuselage 1 viewed from above, and Figure 3 The fuselage 1 is shown viewed from the left side.

[0038] The rudder servo 6 and the elevator servo 7 are attached to predetermined positions of the fuselage 1 as servomotors.

[0039] The yaw axis linkage 4 is formed between the rudder servo 6 and the yaw frame 30 of the pan / tilt mechanism 3 .

[0040] The yaw axis linkage 4 is mainly formed of a yaw axis rod 4a. One end of the yaw axis rod 4a made of carbon or stainless steel, for example, is connected to a rotor 6a of a rudder servo 6. A rod end 51 is attached to the other end of the yaw axis rod 4a and connected to the yaw frame 30.

[0041] With this configuration, when the rotor 6a of the rudder servo 6 rotates, the yaw shaft 4a moves back and forth, thereby driving the yaw frame 30 in the yaw direction.

[0042] Further, a slit 72 is formed at the vertical portion 1a so that the yaw shaft rod 4a can connect the rotor 6a located on the right side of the vertical portion 1a to the link ball 33 on the left side of the yaw frame 30. The yaw shaft rod 4a passes through the slit 72 to reach the left side from the right side of the vertical portion 1a.

[0043] The rudder is provided at the vertical tail 1d, and the rudder and the rotor 6b are connected by another rod (not shown). Therefore, for example, the control of the rudder is linked to the yaw control of the pan-tilt mechanism 3 through the rudder servo 6.

[0044] The pitch axis linkage 5 is formed between the elevator servo 7 and the pitch frame 20 of the pan / tilt mechanism 3 .

[0045] The pitch axis linkage 5 is mainly formed of a pitch axis rod 5a. One end of the pitch axis rod 5a made of, for example, carbon or stainless steel is connected to the rotor 7a of the elevator servo 7. The other end of the pitch axis rod 5a is connected to one end of the crank tube 8. A rod end 52 is attached to the other end of the crank tube 8, and the rod end 52 is connected to the pitch frame 20. The crank tube 8 is used in the direction of crank rotation in the left and right directions.

[0046] With this configuration, when the rotor 7a of the elevator servo 7 rotates, the pitch shaft 5a moves back and forth, thereby driving the pitch frame 20 in the pitch direction.

[0047] Further, a slit 71 is formed on the horizontal portion 1b so that the pitch shaft 5a can connect the rotor 7a below the horizontal portion 1b to the crank tube 8 above the horizontal portion 1b. The pitch shaft 5a passes through the slit 71 to reach the upper side from the lower side of the horizontal portion 1b.

[0048] The elevator is installed at the horizontal tail 1e, and the elevator and the rotor 7b are connected by another rod (not shown). Therefore, for example, the control of the elevator and the pitch control of the pan / tilt mechanism 3 are linked through the elevator servo 7.

[0049] Will refer to Figures 4 to 11 Describe the pan / tilt mechanism 3.

[0050] As described above, the pan-tilt mechanism 3 is a mechanism that holds the motor 10 and rotates it around two axes (ie, the yaw direction and the pitch direction). The pan-tilt mechanism 3 mainly includes the pitch frame 20 , the yaw frame 30 , the bracket 40 , and the crank tube 8 .

[0051] When viewed from the front side, the bracket 40 is formed in a cross shape, and the horizontal groove 45 and the vertical groove 46 form the rear side of the cross shape (see FIG. Figure 4 and Figure 6 ).like Figure 1 As shown, the bracket 40 is attached to the nose in a state where the horizontal portion 1 b of the body 1 is fitted into the groove 45 and the vertical portion 1 a is fitted into the groove 46 .

[0052] The bracket 40 has threaded holes 42 at its upper and lower parts, through which screws 44 are inserted, and to which rod ends 43 are attached (see Figure 4 ).

[0053] Further, the bracket 40 has an insertion hole 41 through which the crank tube 8 is inserted. The crank tube 8 is positioned to be movable back and forth in a space formed by the insertion hole 41 and a slit 73 formed in the vertical portion 1a of the body 1 at the rear side of the insertion hole 41 (see Figure 1 , Figure 4 and Figure 6 ).

[0054] The yaw frame 30 is formed as an annular member having an inner space, and is supported by the bracket 40. Screw holes 37 are formed at the upper and lower ends of the yaw frame 30, and the connecting rod ball 32 is attached to the screw holes 37 by screws 31 (see FIG. 4 ). Figure 4 and Figure 8 ).

[0055] The engaging portion 43a of the rod end 43 attached to the bracket 40 engages with the upper link ball 32 and the lower link ball 32. Therefore, the upper and lower ends of the yaw frame 30 are supported by the bracket 40 to be rotatable in the yaw direction.

[0056] Further, the base 38 is provided at a position slightly above the center on the rear side of the yaw frame 30, and the connecting rod ball 33 is fixed to the base 38 by a screw member 34 passing through a screw hole (not shown). The engaging portion 51a of the rod end 51 connected to the yaw shaft rod 4a is engaged with the connecting rod ball 33 (see FIG. Figure 4 and Figure 8 ).

[0057] By engaging the link ball 33 of the base 38 with the rod end 51 in a state where the upper and lower ends are axially fixed by the bracket 40 , the yaw axis rod 4 a is moved back and forth by the rudder servo 6 , thereby rotating the yaw frame 30 in the yaw direction.

[0058] Shaft holes 36 through which the shaft pins 35 are inserted are formed on the left and right sides of the yaw frame 30 .

[0059] The pitch frame 20 is attached to the yaw frame 30. A pair of substantially semicircular plate-shaped rotating members 26 are formed on the left and right sides of the rear surface of the pitch frame 20, and a bearing portion 21 is formed at each rotating member 26 (see Figure 4 and Fig. 9 ).

[0060] By inserting the shaft pins 35 into the corresponding bearing portions 21 , the left and right sides of the pitch frame 20 are supported to be rotatable relative to the yaw frame 30 .

[0061] The fixing member 22 is formed above the pitch frame 20, and the connecting rod ball 24 is fixed by the screw member 23 inserted through the screw hole 22a of the fixing member 22. The engaging portion 52a of the rod end 52 attached to the crank tube 8 is engaged with the connecting rod ball 24 (see Figure 4 ).

[0062] By engaging the link ball 24 on the fixing member 22 with the rod end 52 in a state where the left and right ends are supported by the yaw frame 30 , the pitch shaft rod 5 a is moved back and forth by the elevator servo 7 , thereby rotating the pitch frame 20 in the pitch direction.

[0063] Fig. 9 Shows from Figure 8 In the state shown in FIG. 1 , the tilt frame 20 is rotated upward.

[0064] The pitch frame 20 has four screw receiving portions 25 .

[0065] The motor 10 has a fixing piece 12 formed at positions corresponding to the four screw receiving portions 25. The motor 10 is attached to the pitch frame 20 (see FIG. 2 ) by screwing the screws 11 into the threaded holes of the fixing piece 12 and the screw receiving portions 25. Figure 4 , Figure 7 , Figure 8 and Fig. 9 ). Therefore, the motor 10 and the propeller 2 can rotate in the yaw direction and the pitch direction.

[0066] Fig.10 An enlarged view showing the engagement state between the connecting rod ball 24 and the engagement portion 52 a of the rod end 52 is shown.

[0067] The connecting rod ball 24 has a shape including a spherical portion 24a of a substantially spherical body and a base portion 24b connected to the fixing member 22. The engaging portion 52a of the rod end 52 has an engaging hole 52b having a curved surface corresponding to the spherical surface of the spherical portion 24a, and the connecting rod ball 24 and the rod end 52 are engaged in a state where the spherical portion 24a is fitted into the engaging hole 52b.

[0068] Therefore, even if a certain degree of angular misalignment occurs, the connecting rod ball 24 and the rod end 52 can maintain a state in which the shaft is stably fixed.

[0069] The connecting rod ball 32 and the rod end 43 , and the connecting rod ball 33 and the rod end 51 have the same structure.

[0070] Fig.11 The relationship between the pitch axis Jp and the yaw axis Jy in the pan / tilt mechanism 3 is shown.

[0071] As can be understood from the above structure, the pitch axis Jp connects the left shaft hole 36 and the right shaft hole 36 of the yaw frame 30. The yaw axis Jy connects the upper threaded hole 37 and the lower threaded hole 37 of the yaw frame 30. Therefore, the pitch axis Jp and the yaw axis Jy are not in a distorted positional relationship, but are on the same plane as the imaginary plane IP, and the intersection M of the pitch axis Jp and the yaw axis Jy is located on the imaginary plane IP. The intersection M of the pitch axis Jp and the yaw axis Jy is located on the central axis Jb of the fuselage 1.

[0072] Therefore, compared with when the yaw axis Jy and the pitch axis Jp are not on the center axis Jb of the airframe 1, the swing width of the yaw frame 30 and the pitch frame 20 when each axis rotates can be reduced.

[0073] The case where the crank tube 8 is used will be further described.

[0074] Fig.12 The pitch axis linkage 5 and the yaw axis linkage 4 are shown when the fuselage 1 is viewed from above.

[0075] The pitch axis linkage device 5 will be mainly described. In the pitch axis linkage device 5 , the crank tube 8 is connected to the pitch axis rod 5 a , the pitch axis rod 5 a is connected to the elevator servo 7 , the rod end 52 is connected to the crank tube 8 , and the rod end 52 is connected to the connecting rod ball 24 .

[0076] When viewed from the left-right direction of the airframe 1 , the link ball 24 is located on the central axis Jb.

[0077] In this case, the state of the pitch axis rod 5 a when the crank tube 8 is not used and the pitch axis rod 5 a is directly connected to the rod end 52 is indicated by the broken lines L1 and L2 .

[0078] If the crank tube 8 is not used, the pitch shaft rod 5a is blocked by the vertical portion 1a of the fuselage 1 and therefore cannot reach the position of the connecting rod ball 24 in a straight line. Therefore, the pitch shaft rod 5a is bent as shown by the dotted line L1 due to interference with the aircraft structure. In this case, the angle between the rod end 52 and the connecting rod ball 24 increases, and the operating angle of the pitch frame 20 decreases.

[0079] For example, Fig.13 FIG. 2 shows a state where the rod end 52 of the bent pitch axis rod 5a is engaged with the connecting rod ball 24. The rod end 52 is inclined toward the base 24b relative to the connecting rod ball 24, and the gap between the rod end 52 and the base 24b is small. Fig.14 As shown, when rotating in the yaw direction, the base 24b of the connecting rod ball 24 and the rod end 52 immediately collide, and the swing angle in the yaw direction cannot be increased. Further, when the yaw frame 30 swings in the yaw direction, the engaging portion 52a of the rod end 52 may be separated from the spherical portion 24a of the connecting rod ball 24.

[0080] Further, a load generated by contact with the fuselage 1 is applied to the pitch axis rod 5 a , thereby possibly interfering with the smooth movement of the pitch axis linkage 5 .

[0081] To avoid Fig.12 The bending of the pitch axis rod 5a shown by the dotted line L1 in FIG. 1 can cut away the fuselage 1 and allow the pitch axis rod 5a to pass through the cutout portion. The dotted line L2 shows a state where the fuselage 1 is cut away so that the pitch axis rod 5a can reach the link ball 24 in a straight line.

[0082] However, in this case, the width of the cutout portion increases, and the strength of the body decreases.

[0083] Therefore, in the present embodiment, the crank tube 8 is used so that the pitch axis linkage device 5 can be rotated by the crank and reach the connecting rod ball 24 .

[0084] like Fig.15 As shown, when the crank tube 8 is used, the rod end 52 is connected to the connecting rod ball 24 at a substantially right angle so that the gap between the base 24b and the rod end 52 is sufficiently wide. Fig.16 As shown, the swing angle of the pitch frame 20 in the yaw direction can be increased.

[0085] The fuselage 1 requires a slit 73 of the crank tube 8 (see Figure 1 However, since it is only necessary to cut the fuselage 1 by an amount corresponding to the width of the forward and backward movement of the crank portion, it is similar to the above. Fig.12 The dotted line L2 in FIG. 1 indicates that the amount of cutting is extremely small compared to when the linear pitch axis rod 5a is cut off from the fuselage 1. Therefore, the strength of the fuselage 1 can be maintained.

[0086] Hereinafter, the effects of this embodiment are summarized.

[0087] The pan / tilt mechanism 3 of this embodiment includes: a bracket 40 configured to be fixed to the fuselage 1; a yaw frame 30 (first frame) attached to the bracket 40 and configured to be rotatable in the yaw direction (first direction); a pitch frame 20 (second frame) attached to the yaw frame 30 and configured to be rotatable in the pitch direction (second direction) and configured to fix the motor 10 for rotating the propeller 2; and a crank tube 8 (crank member) configured to be connected to the elevator servo 7 provided at the fuselage 1, and to rotate the pitch axis linkage 5 with the crank to rotate the pitch frame 20. Further, the pitch frame 20 is connected to the pitch axis linkage 5 via the crank tube 8 through the link ball 24, and the link ball 24 is configured to be located on the center axis Jb of the fuselage 1 in the yaw direction.

[0088] In a radio-controlled aircraft as a fixed-wing unmanned aerial vehicle, by mounting the propeller 2 and the motor 10 on the pan-tilt mechanism 3, the direction of the motor 10 can be changed randomly, thereby expanding the possibility of aerobatic flights such as 4D flight.

[0089] In the pan / tilt mechanism 3, the pitch axis linkage 5 is connected to the pitch frame 20 via the crank tube 8, so that the rod end 52 at the tip of the pitch axis linkage 5 can be connected to the connecting rod ball 24 at a substantially right angle. Therefore, the swing angle of the pitch frame 20 in the yaw direction can be increased, which makes it possible to significantly reduce the possibility of the pitch frame 20 being disconnected from the coupling when the yaw frame 30 rotates more. Further, the pitch axis rod 5a is prevented from bending due to contact with the fuselage 1, and the pitch axis rod 5a is prevented from operating while in contact with the fuselage 1, which makes it possible to maintain smooth operation of the pitch axis linkage 5. In addition, by using the crank tube 8, the cutout of the fuselage 1 can be minimized, and the strength of the fuselage 1 can be prevented from being excessively reduced.

[0090] In order to engage the rod end 52 connected to the crank tube 8 with the connecting rod ball 24 at a substantially right angle, the crank tube 8 is passed through the insertion hole 41 of the bracket 40. When viewed in the yaw direction, the insertion hole 41 is formed on the central axis Jb of the fuselage 1. Therefore, the crank tube 8 can face the connecting rod ball 24 substantially along the central axis Jb.

[0091] In the embodiment, the yaw frame 30 is attached to the bracket 40, and the pitch frame 20 is attached to the yaw frame 30. In other words, in the claims, the first direction indicates the yaw direction, and the second direction indicates the pitch direction.

[0092] On the other hand, the first direction may be a pitch direction, and the second direction may be a yaw direction. In other words, a pitch frame rotatable in the pitch direction may be attached to the bracket, and a yaw frame rotatable in the yaw direction may be attached to the pitch frame.

[0093] Although the structural example in which the crank member is provided for the pitch-axis linkage device 5 has been described, a structural example in which the crank member is provided for the yaw-axis linkage device 4 may also be considered.

[0094] In the embodiment, the crank member is a crank tube 8 having one end connected to the pitch shaft rod 5 a to be connected to the rod elevator servo 7 and the other end connected to the rod end 52 to be connected to the connecting rod ball 24 .

[0095] By forming the crank portion using the crank tube 8, the pitch axis linkage device 5 having the crank portion can be easily realized. This is because it is only necessary to connect the pitch axis rod 5a to one end of the crank tube 8 and connect the rod end 52 to the other end. Further, by using the crank tube 8, the pitch axis linkage device 5 can move back and forth while maintaining the crank shape, which is suitable for maintaining the connection with the connecting rod ball 24 at a substantially right angle.

[0096] In the embodiment, the intersection M between the yaw axis Jy (ie, the rotation axis of the yaw frame 30 in the yaw direction) and the pitch axis Jp (ie, the rotation axis of the pitch frame 20 in the pitch direction) is located on the central axis Jb of the fuselage 1 .

[0097] The yaw axis Jy and the pitch axis Jp are formed on the same imaginary plane IP, and the rotation axes intersect each other. In other words, the yaw axis Jy and the pitch axis Jp are not in a twisted positional relationship. Further, the intersection M is located on the center axis Jb. Therefore, the swing width of the pitch frame 20 and the yaw frame 30 when rotating each axis can be reduced. In other words, the rotation in the pitch direction and the yaw direction can be effectively performed without unnecessarily increasing the rotation angle of the pitch frame 20 and the yaw frame 30.

Claims

1. A pan / tilt mechanism, comprising: a bracket configured to be secured to a fuselage of the unmanned aerial vehicle; a first frame attached to the bracket and configured to be rotatable in a first direction, the first direction being a yaw direction or a pitch direction; a second frame attached to the first frame and configured to be rotatable in a second direction, which is the other of the yaw direction or the pitch direction, and configured to fix a motor for rotating a propeller; as well as a crank member configured to be connected to a servo motor provided at the body, and to crank a linkage to rotate the second frame, The second frame is connected to the linkage device via the crank member through a connecting rod and a ball, and the connecting rod and a ball are configured to be located on the central axis of the fuselage in the first direction.

2. The pan / tilt mechanism according to claim 1, wherein: The first direction is a yaw direction, and the second direction is a pitch direction.

3. The pan / tilt mechanism according to claim 1, wherein: The crank member is a crank tube having one end connected to a rod to be connected to the servo motor and the other end connected to a rod end to engage with the connecting rod ball.

4. The pan / tilt mechanism according to any one of claims 1 to 3, wherein: An intersection point between a rotation axis of the first frame in the first direction and a rotation axis of the second frame in the second direction is located on a central axis of the fuselage.

5. A pan / tilt mechanism, comprising: a bracket configured to be secured to a fuselage of the unmanned aerial vehicle; a first frame attached to the bracket and configured to be rotatable in a first direction, the first direction being a yaw direction or a pitch direction; as well as a second frame attached to the first frame and configured to be rotatable in a second direction, which is the other of the yaw direction or the pitch direction, and configured to fix a motor for rotating a propeller; a crank member configured to be connected to a servo motor provided at the body, and to crank a linkage to rotate the second frame, Wherein, an intersection point between a rotation axis of the first frame in the first direction and a rotation axis of the second frame in the second direction is located on a central axis of the fuselage.

6. An unmanned aerial vehicle comprising: a pan / tilt mechanism equipped with a propeller and a motor for rotating the propeller, Wherein, the pan / tilt mechanism comprises: a bracket configured to be fixed to the fuselage; a first frame attached to the bracket and configured to be rotatable in a first direction, the first direction being a yaw direction or a pitch direction; a second frame attached to the first frame and configured to be rotatable in a second direction, which is the other of the yaw direction or the pitch direction, and configured to fix the motor for rotating the propeller; and a crank member configured to be connected to a servo motor provided at the body, and to crank a linkage to rotate the second frame, The second frame is connected to the linkage device through a connecting rod and a ball via the crank member, and the connecting rod and a ball are configured to be located on the central axis of the fuselage in the first direction.

7. An unmanned aerial vehicle comprising: a pan / tilt mechanism equipped with a propeller and a motor for rotating the propeller, Wherein, the pan / tilt mechanism comprises: a bracket configured to be secured to a fuselage of the unmanned aerial vehicle; a first frame attached to the bracket and configured to be rotatable in a first direction, the first direction being a yaw direction or a pitch direction; and a second frame attached to the first frame and configured to be rotatable in a second direction, which is the other of the yaw direction or the pitch direction, and configured to fix the motor for rotating the propeller; Wherein, an intersection point between a rotation axis of the first frame in the first direction and a rotation axis of the second frame in the second direction is located on a central axis of the fuselage.

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