Gimbal mechanism and unmanned air vehicle

Abstract

To provide a gimbal mechanism for a propeller and a motor of an unmanned air vehicle.SOLUTION: A gimbal mechanism includes: a bracket fixed to a machine body of an unmanned air vehicle; a first frame which is attached to the bracket and may rotate in a first direction which is one of a yaw direction and a pitch direction; a second frame which is attached to the first frame and may rotate in a second direction which is the other of the yaw direction and the pitch direction and to which a motor for rotating the propeller is fixed; and a crank member which is connected to a servo motor disposed at the machine body and cranks a linkage for rotating the second frame. The second frame is connected to the linkage through the crank member by a link ball located on a center axis of the machine body in the first direction.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a gimbal mechanism that enables directional control of a propeller and a motor, and an unmanned aerial vehicle equipped with a gimbal mechanism. [Background technology]

[0002] For example, radio-controlled airplanes are known as fixed-wing unmanned flying objects. In the case of radio-controlled airplanes, 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 rudders (rudder, elevator, aileron) mounted on the fixed wings.

[0003] The following Patent Document 1 discloses the structure of a spinner unit for an electric radio-controlled model airplane. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2006-075321 A Summary of the Invention [Problem to be solved by the invention]

[0005] In recent years, a new way of flying radio-controlled airplanes called "4D flight" has become popular. This is acrobatic flying in which, during normal flight, the nose of the radio-controlled airplane is pointed to the ground, the propellers are rotated in reverse, and the airplane ascends while in an inverted position.

[0006] However, if the propellers are rotated in reverse and the plane is flying backwards, the rudder will be exposed to the wind from behind, making it impossible for the snake to control direction.

[0007] Therefore, the present invention provides a gimbal mechanism that can control flight by freely changing the direction of the power motor, and proposes technology that achieves smooth gimbal operation. [Means for solving the problem]

[0008] The gimbal mechanism of the present invention comprises a bracket fixed to the body of an unmanned aerial vehicle, a first frame attached to the bracket and rotatable in a first direction, which is either the yaw direction or the pitch direction, a second frame attached to the first frame and rotatable in a second direction, which is the other of the yaw direction or the pitch direction, and which fixes a motor that rotates a propeller, and a crank member connected to a servo motor arranged on the body and cranking a linkage that rotates the second frame, wherein the second frame is configured to be connected to the linkage via the crank member by a link ball located on the central axis of the body in the first direction. By using the crank member, the linkage with the servo motor can be connected at a nearly right angle to the link ball.

[0009] Furthermore, the gimbal mechanism of the present invention comprises a bracket fixed to the body of an unmanned aerial vehicle, a first frame attached to the bracket and rotatable in a first direction, which is either the yaw direction or the pitch direction, and a second frame attached to the first frame and rotatable in a second direction, which is the other of the yaw direction or the pitch direction, and which fixes a motor that rotates a propeller, wherein the intersection of the rotation axis of the first frame in the first direction and the rotation axis of the second frame in the second direction is positioned on the central axis of the airframe. The yaw and pitch rotation axes are formed on the same imaginary plane, and the rotation axes intersect. In other words, the rotation axes are not in a twisted position relationship. And the intersection of the rotation axes is on the central axis of the aircraft.

[0010] The unmanned aerial vehicle according to the present invention is an aerial vehicle equipped with these gimbal mechanisms. Effect of the Invention

[0011] According to the present invention, by providing a gimbal mechanism for mounting the propeller and motor, the orientation of the propeller and motor can be changed as desired, thereby expanding the possibilities for acrobatic flight such as 4D flight. As for the gimbal mechanism, the second frame is connected to a linkage with the servo motor via a crank member, so that it can be connected at a nearly right angle to the link ball.

[0012] In addition, according to the present invention, by locating the intersection of the yaw rotation axis and the pitch rotation axis on the central axis of the aircraft, the amplitude of frame swing when each axis is rotated can be reduced, and rotation in the pitch and yaw directions can be performed efficiently without making the frame rotation angle unnecessarily large. [Brief description of the drawings]

[0013] [Figure 1] 1 is a perspective view of a radio-controlled airplane according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an explanatory diagram of a gimbal linkage according to an embodiment. [Diagram 3] FIG. 2 is an explanatory diagram of a gimbal linkage according to an embodiment. [Figure 4] FIG. 2 is an exploded perspective view of the gimbal mechanism according to the embodiment. [Diagram 5] FIG. 2 is a front view of the gimbal mechanism according to the embodiment. [Figure 6] FIG. 4 is a rear view of the gimbal mechanism according to the embodiment. [Figure 7] FIG. 2 is a plan view of a gimbal mechanism according to the embodiment. [Figure 8] FIG. 2 is a side view of the gimbal mechanism according to the embodiment. [Figure 9] FIG. 11 is a side view of the gimbal mechanism according to the embodiment rotated in a pitch direction. [Figure 10]6A and 6B are explanatory diagrams of engagement of link balls in the embodiment. [Figure 11] FIG. 4 is an explanatory diagram of the relationship between a pitch axis and a yaw axis in the embodiment. [Figure 12] FIG. 4 is an explanatory diagram showing a state in which the crank pipe is not used. [Figure 13] FIG. 4 is an explanatory diagram showing a state in which the crank pipe is not used. [Figure 14] FIG. 4 is an explanatory diagram showing a state in which the crank pipe is not used. [Figure 15] FIG. 4 is an explanatory diagram of a case where the crank pipe according to the embodiment is used. [Figure 16] FIG. 4 is an explanatory diagram of a case where the crank pipe according to the embodiment is used. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described using an example of a radio-controlled airplane and a gimbal mechanism attached to the nose of the radio-controlled airplane.

[0015] In the following explanation, the propeller side of the radio-controlled airplane is defined as the front, and the left and right directions are defined from the rear of the aircraft facing the nose. Also, up and down are defined in the normal attitude of the radio-controlled airplane (the attitude in Figure 1).

[0016] Figure 1 shows the airframe 1 of a radio-controlled airplane. The main body of the airframe 1 is formed by a vertical section 1a and a horizontal section 1b. The main wings 1c and horizontal stabilizer 1e are formed to extend in the left-right direction from the horizontal section 1b, and the vertical stabilizer 1d is formed to extend upward from the vertical section 1a at the rear of the airframe.

[0017] A gimbal mechanism 3 is attached to the nose of such an aircraft 1. A motor 10 that rotates the propeller 2 is fixed to the gimbal mechanism 3. The gimbal mechanism 3 is structured to rotate on two axes, the yaw direction and the pitch direction, and is therefore capable of changing the orientation of the propeller 2 from the direction of the central axis Jb of the aircraft 1 to the yaw direction dy and the pitch direction dp. In other words, this configuration allows attitude control by controlling the direction of the propeller 2.

[0018] Although described in more detail below, the gimbal mechanism 3 has a bracket 40 attached to the nose of the aircraft 1, a yaw frame 30 attached to the bracket 40, and a pitch frame 20 attached to the yaw frame 30. A motor 10 is fixed to the pitch frame 20, and a propeller 2 is attached to the rotating shaft of the motor 10.

[0019] 2 and 3 show the linkage structure between the gimbal mechanism 3 and the servo motor. Fig. 2 shows the aircraft 1 as seen from above, and Fig. 3 shows the aircraft 1 as seen from the left. A rudder servo 6 and an elevator servo 7 are attached as servo motors at predetermined positions on the aircraft 1.

[0020] A yaw axis linkage 4 is formed between the rudder servo 6 and the yaw frame 30 of the gimbal mechanism 3 . The yaw axis linkage 4 is mainly formed of a yaw axis rod 4a. One end of the yaw axis rod 4a, which is made of, for example, carbon or stainless steel, is connected to a rotor 6a of the rudder servo 6. A rod end 51 is attached to the other end of the yaw axis rod 4a, and the rod end 51 is connected to the yaw frame 30. With this configuration, when the rotor 6a of the rudder servo 6 rotates, the yaw axis rod 4a moves back and forth, driving the yaw frame 30 in the yaw direction.

[0021] In addition, in order for the yaw axis rod 4a to join the rotor 6a, which is located to the right of the vertical portion 1a, to the link ball 33 on the left side of the yaw frame 30, a slit 72 is provided in the vertical portion 1a, and the yaw axis rod 4a passes through the slit 72 to reach from the right side to the left side of the vertical portion 1a.

[0022] A rudder is also provided on the vertical stabilizer 1d, and the rudder and the rotor 6b are also connected by another rod (not shown). As a result, for example, the control of the rudder and the yaw control of the gimbal mechanism 3 are linked by the rudder servo 6.

[0023] A pitch axis linkage 5 is formed between the elevator servo 7 and the pitch frame 20 of the gimbal mechanism 3 . The pitch axis linkage 5 is mainly formed of a pitch axis rod 5a. One end of the pitch axis rod 5a, which is made of, for example, carbon or stainless steel, is connected to a rotor 7a of the elevator servo 7. The other end of the pitch axis rod 5a is connected to one end of a crank pipe 8, and a rod end 52 is attached to the other end of the crank pipe 8, and the rod end 52 is connected to the pitch frame 20. The crank pipe 8 is used in a direction that cranks left and right. With this configuration, when the rotor 7a of the elevator servo 7 rotates, the pitch axis rod 5a moves back and forth, driving the pitch frame 20 in the pitch direction.

[0024] In addition, in order for the pitch axis rod 5a to join the rotor 7a, which is located below the horizontal portion 1b, and the crank pipe 8, which is located above the horizontal portion 1b, a slit 71 is provided in the horizontal portion 1b, and the pitch axis rod 5a passes through the slit 71 to reach from the lower side to the upper side of the horizontal portion 1b.

[0025] In addition, an elevator is provided on the horizontal stabilizer 1e, and the elevator and the rotor 7b are also connected by another rod (not shown). As a result, for example, the elevator control and the pitch control of the gimbal mechanism 3 are linked by the elevator servo 7.

[0026] The gimbal mechanism 3 will be described with reference to FIGS. As described above, the gimbal mechanism 3 is a mechanism that holds the motor 10 and rotates it about two axes in the yaw and pitch directions, and is mainly composed of the pitch frame 20, the yaw frame 30, the bracket 40, and the crank pipe 8.

[0027] Bracket 40 is formed in a cross shape when viewed from the front, and the rear side of the cross has horizontal groove 45 and vertical groove 46 (see Figs. 4 and 6). This bracket 40 is attached to the nose with horizontal part 1b of fuselage 1 fitted into groove 45 and vertical part 1a fitted into groove 46, as shown in Fig. 1.

[0028] The bracket 40 has screw holes 42 formed at its upper and lower parts, through which screws 44 are inserted, and a rod end 43 is attached (see FIG. 4). Further, the bracket 40 is formed with an insertion hole 41 through which the crank pipe 8 passes. The crank pipe 8 is positioned in a state in which it can move in the front-rear direction within the space defined by the insertion hole 41 and a slit 73 formed in the rear part of the insertion hole 41 in the vertical part 1a of the body 1 (see Figs. 1, 4 and 6).

[0029] The yaw frame 30 is formed as a circular member with an inner space, and is supported by a bracket 40. Screw holes 37 are formed on the upper and lower ends of the yaw frame 30, and link balls 32 are attached by screws 31 (see Figs. 4 and 8).

[0030] Engagement portions 43a of rod ends 43 attached to brackets 40 engage with the upper and lower link balls 32. As a result, both upper and lower ends of the yaw frame 30 are supported by the brackets 40 so as to be rotatable in the yaw direction.

[0031] Further, a fulcrum base part 38 is provided on the rear side of the yaw frame 30 slightly above the center, and a link ball 33 is fixed onto the fulcrum base part 38 by a screw 34 passing through a screw hole (not shown). An engagement part 51a of a rod end 51 to which the yaw axis rod 4a is joined engages with this link ball 33 (see Figs. 4 and 8).

[0032] With both the upper and lower ends pivoted by the bracket 40, the link ball 33 of the fulcrum base 38 engages with the rod end 51, causing the yaw axis rod 4a to move back and forth by the rudder servo 6, thereby rotating the yaw frame 30 in the yaw direction.

[0033] The yaw frame 30 has shaft holes 36 formed on the left and right sides thereof, through which shaft pins 35 are inserted. The pitch frame 20 is attached to this yaw frame 30. A pair of approximately semicircular plate-shaped rotating pieces 26 are formed on the left and right sides of the back side of the pitch frame 20, and a bearing portion 21 is formed on each rotating piece 26 (see FIGS. 4 and 9). By inserting the shaft pins 35 into the respective bearing portions 21 , the left and right sides of the pitch frame 20 are supported rotatably relative to the yaw frame 30 .

[0034] A fixed piece 22 is formed on the upper part of the pitch frame 20, and a link ball 24 is fixed by a screw 23 inserted into a screw hole 22a of the fixed piece 22. An engaging portion 52a of a rod end 52 attached to the crank pipe 8 engages with this link ball 24 (see FIG. 4).

[0035] With both left and right ends journaled by yaw frame 30, link ball 24 on fixed piece 22 engages with rod end 52, causing elevator servo 7 to move pitch axis rod 5a back and forth, thereby rotating pitch frame 20 in the pitch direction. FIG. 9 shows a state in which pitch frame 20 has been rotated upward from the state shown in FIG.

[0036] The pitch frame 20 is formed with four screw receiving portions 25. Additionally, the motor 10 is formed with fixing pieces 12 at positions corresponding to the four screw receiving portions 25. The motor 10 is attached to the pitch frame 20 by screwing the screws 11 into the fixing pieces 12 and the screw holes of the screw receiving portions 25 (see Figures 4, 7, 8, and 9). This allows the motor 10 and the propeller 2 to rotate in the yaw direction and the pitch direction.

[0037] The state of engagement between the link ball 24 and the engagement portion 52a of the rod end 52 is shown in an enlarged view in FIG. The link ball 24 has a shape including a spherical portion 24a formed of a substantially spherical body, and a seat portion 24b joined to the fixed piece 22. The engaging portion 52a of the rod end 52 is formed with an engaging hole 52b having a curved surface that fits the spherical surface of the spherical portion 24a, and is engaged with the spherical portion 24a in a fitted state in the engaging hole 52b. This allows the link ball 24 and the rod end 52 to maintain a smooth shaft-locking state even if a certain degree of angular misalignment occurs.

[0038] The link ball 32 and the rod end 43, and the link ball 33 and the rod end 51 have the same structure.

[0039] FIG. 11 shows the relationship between the pitch axis Jp and the yaw axis Jy in the gimbal mechanism 3. As can be understood from the above structure, the pitch axis Jp is a line connecting the left and right shaft holes 36 of the yaw frame 30. In addition, the yaw axis Jy is a line connecting the upper and lower screw holes 37 of the yaw frame 30. Therefore, the pitch axis Jp and the yaw axis Jy are not in a torsional position relationship but are on the same plane as an imaginary plane IP, and the intersection M of the pitch axis Jp and the yaw axis Jy is on the imaginary plane IP. In addition, the intersection M of the pitch axis Jp and the yaw axis Jy is arranged to be on the central axis Jb of the aircraft 1.

[0040] By doing this, the swing amplitude of the yaw frame 30 and the pitch frame 20 when each axis is rotated can be made smaller than when the yaw axis Jy and the pitch axis Jp are not on the central axis Jb of the aircraft 1.

[0041] Next, the use of the crank pipe 8 as described above will be described. FIG. 12 shows the pitch axis linkage 5 and the yaw axis linkage 4 when the aircraft 1 is viewed from above.

[0042] Let us now turn our attention to pitch axis linkage 5. In pitch axis linkage 5, crank pipe 8 is joined to pitch axis rod 5a which is joined to elevator servo 7, and rod end 52 is joined to crank pipe 8, and rod end 52 engages with link ball 24. The link ball 24 is located on the central axis Jb when viewed in the left-right direction of the machine body 1.

[0043] At this time, the state of pitch shaft rod 5a when pitch shaft rod 5a is directly joined to rod end 51 without using crank pipe 8 is shown by dashed lines L1 and L2.

[0044] If the crank pipe 8 is not used, the pitch axis rod 5a is blocked by the vertical portion 1a of the fuselage 1 and cannot reach the position of the link ball 24 in a straight line. Therefore, as shown by the dashed line L1, it interferes with the fuselage structure and is bent. In that case, the angle between the rod end 52 and the link ball 24 becomes large, and the operating angle of the pitch frame 20 becomes small.

[0045] For example, Figure 13 shows a state in which the rod end 52 of the curved pitch axis rod 5a is engaged with the link ball 24. It can be seen that the rod end 52 is inclined toward the base portion 24b with respect to the link ball 24, and the gap between the base portion 24b and the rod end 52 is small. As a result, when rotating in the yaw direction, the base portion 24b of the link ball 24 and the rod end 52 collide immediately as shown in Figure 14, and the swing angle in the yaw direction cannot be made large. Furthermore, when the yaw frame 30 is swung in the yaw direction, there is a risk that the engaging portion 52a of the rod end 52 will come off the spherical portion 24a of the link ball 24. In addition, a load is applied to the pitch axis rod 5a due to contact with the aircraft body 1, which also hinders smooth movement of the pitch axis linkage 5.

[0046] In order to avoid bending the pitch axis rod 5a as shown by the dashed line L1 in Figure 12 above, there is a method of cutting out the fuselage 1 and passing the rod through the cutout. The dashed line L2 shows a state in which a cutout is provided so that the pitch axis rod 5a reaches the link ball 24 in a straight line. However, doing so would increase the width of the cutout, compromising the strength of the aircraft.

[0047] Therefore, in this embodiment, the crank pipe 8 is used so that the pitch axis linkage 5 cranks and reaches the link ball 24. As shown in Fig. 15, when crank pipe 8 is used, rod end 52 is connected to link ball 24 at a substantially right angle, so that the gap between base portion 24b and rod end 52 becomes sufficiently wide. As a result, the swing angle of pitch frame 20 in the yaw direction can be increased, as shown in Fig. 16.

[0048] Although the fuselage 1 needs a slit 73 (see FIG. 1) for the crank pipe 8, the cutout amount is only required to accommodate the forward and backward movement of the crank portion, so it is much smaller than the cutout required for a linear pitch axis rod 5a as indicated by the dashed line L2 in FIG. 12. This allows the strength of the fuselage 1 to be maintained.

[0049] The effects of this embodiment are summarized below. The gimbal mechanism 3 of the embodiment includes a bracket 40 fixed to the airframe 1, a yaw frame 30 (first frame) attached to the bracket 40 and rotatable in the yaw direction (first direction), a pitch frame 20 (second frame) attached to the yaw frame 30 and rotatable in the pitch direction (second direction) and for fixing a motor 10 that rotates the propeller 2, and a crank pipe 8 (crank member) that is connected to an elevator servo 7 arranged on the airframe 1 and cranks a pitch axis linkage 5 that rotates the pitch frame 20. The pitch frame 20 is configured to be connected to the pitch axis linkage 5 via the crank pipe 8 by a link ball 24 located on the central axis Jb of the airframe 1 in the yaw direction.

[0050] In a radio-controlled airplane, which is a fixed-wing unmanned aerial vehicle, the propeller 2 and motor 10 are mounted on a gimbal mechanism 3, so that the direction of the motor 10 can be changed as desired, thereby expanding the possibilities for acrobatic flight such as 4D flight.

[0051] As for the gimbal mechanism 3, the pitch axis linkage 5 is connected to the pitch frame 20 via the crank pipe 8, so that the rod end 52 at the tip of the pitch axis linkage 5 can be connected to the link ball 24 at a nearly right angle. This allows the pitch frame 20 to have a larger swing angle in the yaw direction. This also makes it possible to extremely reduce the possibility that the link of the pitch frame 20 will come off when the yaw frame 30 rotates more. Furthermore, the pitch axis rod 5a does not come into contact with the aircraft 1 and bend, and does not operate while being rubbed by the aircraft 1, so the smooth operation of the pitch axis linkage 5 can be maintained. In addition, by using the crank pipe 8, the cutouts in the aircraft 1 can be minimized, and the strength of the aircraft 1 is not reduced more than necessary.

[0052] Also, in order to allow the rod end 52 joined to the crank pipe 8 to engage with the link ball 24 at an angle as close to a right angle as possible, the crank pipe 8 passes through the insertion hole 41 of the bracket 40. The insertion hole 41 is formed on the central axis Jb of the aircraft 1 as viewed in the yaw direction. This results in a structure in which the crank pipe 8 can move toward the link ball 24 in a state that is approximately aligned with the central axis Jb.

[0053] In the embodiment, the yaw frame 30 is attached to the bracket 40, and the pitch frame 20 is further attached to the yaw frame 30. That is, this is a structural example in which the first direction in the claims is the yaw direction, and the second direction is the pitch direction. On the other hand, a configuration in which the first direction is the pitch direction and the second direction is the yaw direction is also possible. In other words, a structural example in which a pitch frame that can rotate in the pitch direction is attached to the bracket, and a yaw frame that can rotate in the yaw direction is further attached to the pitch frame is also conceivable.

[0054] Also, although a crank member is provided for the pitch axis linkage 5 in the above embodiment, a crank member may be provided for the yaw axis linkage 4 in the same embodiment.

[0055] In the embodiment, an example has been given in which the crank member is a crank pipe 8 having one end connected to pitch axis rod 5a that is coupled to elevator servo 7 and the other end connected to rod end 52 that engages with link ball 24. Forming the crank portion using the crank pipe 8 makes it easy to realize the pitch shaft linkage 5 having a crank portion. This is because it is sufficient to connect the pitch shaft rod 5a to one end of the crank pipe 8 and connect the rod end 52 to the other end. Furthermore, using the crank pipe 8 allows the pitch shaft linkage 5 to move back and forth while maintaining the crank shape, and is suitable for maintaining the connection with the link ball 24 in a state close to a right angle.

[0056] In this embodiment, the intersection M of the yaw axis Jy, which is the rotation axis of the yaw frame 30 in the yaw direction, and the pitch axis Jp, which is the rotation axis of the pitch frame 20 in the pitch direction, is located on the central axis Jb of the aircraft 1. The yaw axis Jy and pitch axis Jp are formed on the same imaginary plane IP, and the rotation axes intersect. In other words, the yaw axis Jy and pitch axis Jp are not in a twisted position relationship. The intersection point M is on the central axis Jb. This makes it possible to reduce the swing width of the pitch frame 20 and yaw frame 30 when each axis is rotated. In other words, rotation in the pitch direction and yaw direction can be efficiently performed without unnecessarily increasing the rotation angle of the pitch frame 20 and yaw frame 30. [Explanation of symbols]

[0057] 1 Aircraft 1a Vertical section 1b Horizontal part 2 Propellers 3 Gimbal mechanism 4 Yaw axis linkage 4a Yaw axis rod 5 Pitch Axis Linkage 5a Pitch axis rod 6 Rudder Servo 7 Elevator Servo 8 Crank pipe 10 Motor 20 Pitch Frame 24 Link Ball 24a Spherical part 24b Pedestal 30 Yaw Frame 36 Shaft hole 37 Shaft hole 40 Bracket 41 Insertion hole 52 Rod end 52a Engagement part

Claims

1. A bracket fixed to a body of the unmanned aerial vehicle; a first frame attached to the bracket and rotatable in a first direction, which is one of a yaw direction and a pitch direction; a second frame attached to the first frame and rotatable in a second direction, which is the other of the yaw direction and the pitch direction, and which fixes a motor that rotates a propeller; a crank member connected to a servo motor disposed on the airframe and configured to crank a linkage that rotates the second frame; Equipped with The second frame is configured to be connected to the linkage via the crank member by a link ball located on the central axis of the aircraft in the first direction. Gimbal mechanism.

2. The first direction is a yaw direction and the second direction is a pitch direction. The gimbal mechanism of claim 1 .

3. The crank member is a crank pipe having one end connected to a rod that is connected to the servo motor and the other end connected to a rod end that engages with the link ball. The gimbal mechanism of claim 1 .

4. An intersection of 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 aircraft. The gimbal mechanism according to any one of claims 1 to 3.

5. A bracket fixed to a body of the unmanned aerial vehicle; a first frame attached to the bracket and rotatable in a first direction, which is one of a yaw direction and a pitch direction; a second frame attached to the first frame and rotatable in a second direction, which is the other of the yaw direction and the pitch direction, and which fixes a motor that rotates a propeller; Equipped with An intersection of a rotation axis of the first frame in the first direction and a rotation axis of the second frame in the second direction is positioned on a central axis of the aircraft body. Gimbal mechanism.

6. A gimbal mechanism is provided that includes a propeller and a motor that rotates the propeller. The gimbal mechanism includes: A bracket fixed to the aircraft; a first frame attached to the bracket and rotatable in a first direction, which is one of a yaw direction and a pitch direction; a second frame attached to the first frame and rotatable in a second direction, which is the other of the yaw direction and the pitch direction, and which fixes a motor that rotates a propeller; a crank member connected to a servo motor disposed on the airframe and configured to crank a linkage that rotates the second frame; Equipped with The second frame is configured to be connected to the linkage via the crank member by a link ball located on the central axis of the aircraft in the first direction. Unmanned aerial vehicle.

7. A gimbal mechanism is provided that includes a propeller and a motor that rotates the propeller. The gimbal mechanism includes: A bracket fixed to a body of the unmanned aerial vehicle; a first frame attached to the bracket and rotatable in a first direction, which is one of a yaw direction and a pitch direction; a second frame attached to the first frame and rotatable in a second direction, which is the other of the yaw direction and the pitch direction, and which fixes a motor that rotates a propeller; Equipped with An intersection of a rotation axis of the first frame in the first direction and a rotation axis of the second frame in the second direction is positioned on a central axis of the aircraft body. Unmanned aerial vehicle.

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