Unmanned aerial vehicle

Abstract

To provide an unmanned flight body capable of efficiently connecting a flight main body part and a holding unit.SOLUTION: An unmanned flight body includes: a flight main body part having a plurality of arms to which propellers are attached, and provided with a supporting part; a holding unit which is provided with a supported part supported by the supporting part and holds a loading object; and a regulation unit which regulates rotation of the holding unit with respect to the flight main body part. One of the flight main body and the holding unit is set as a first member and the other is set as a second member. On the regulation unit, a part to be regulated which can move between a first position and a second position with respect to the first member is provided. The second member has a regulation part to which the part to be regulated comes into contact in such a state that the part to be supported is supported by the supporting part. The part to be regulated comes into contact with the regulating part, so that a longitudinal direction of the regulating unit is provided along the arm in such a state that a relative rotation of the first member and a second member is regulated.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to the technology of unmanned aerial vehicles.

Background Art

[0002] There is a desire to mount various payloads on an unmanned aerial vehicle. To meet such a desire, in Patent Document 1 below, a technology is disclosed in which an unmanned aerial vehicle is divided into a part that realizes a flight function (for example, a flight body part) and a part that mounts a payload (for example, a holding unit), and these are connected.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By preparing a plurality of holding units to be connected to the flight body part and selecting a holding unit to be connected to the flight body part according to the purpose, it is possible to provide an unmanned aerial vehicle equipped with an appropriate payload for various purposes. By the way, if the connection work between the flight body part and the holding unit takes time, it may not be possible to mount the payload and fly at the optimal timing, and the purpose may not be achieved. Therefore, it is preferable that the connection between the flight body part and the holding unit can be performed efficiently.

[0005] The present proposal has been invented based on such a background, and an object thereof is to propose an unmanned aerial vehicle capable of efficiently connecting a flight body part and a holding unit.

Means for Solving the Problems

[0006] The unmanned aerial vehicle according to the present invention includes a flight body portion having a plurality of arms to which propellers are attached and provided with a support portion, a holding unit provided with a supported portion supported by the support portion and holding a load, and a restricting unit that restricts the rotation of the holding unit with respect to the flight body portion. The flight body portion and the holding unit are such that one of them is a first member and the other is a second member. The restricting unit is provided with a restricted portion that is movable between a first position and a second position with respect to the first member. The second member has a restricted portion against which the restricting portion abuts. In a state where the relative rotation of the first member and the second member is restricted, the longitudinal direction of the restricting unit is provided along the arm. The direction from the first position to the second position is the same as the longitudinal direction of the restricting unit, the first position is a rotation restricting position, and the second position is a rotation releasing position. It is like this. That is, the flight body portion and the holding unit are connected, and during the relative rotation of the flight body portion and the holding unit, the restricted portion is restricted by the restricting portion, and the relative rotation of the flight body portion and the holding unit stops. And in that state, the restricting unit is in a state along the arm. In other words, the longitudinal direction of the restricting unit and the axial direction of the arm in the vicinity thereof are in a substantially parallel state. Thereby, when the relative rotation of the flight body portion and the holding unit is restricted or in a state immediately before being restricted, the longitudinal direction of the restricting unit and the axial direction of the arm are in a substantially coincident state.

Advantages of the Invention

[0007] According to such a present invention, the connection between the flight body portion and the holding unit can be efficiently performed.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Mode for Carrying Out the Invention

[0009] <1. First Embodiment> The unmanned aerial vehicle 1 in the first embodiment will be described with reference to the attached drawings. The unmanned aerial vehicle 1 is, for example, a drone equipped with rotary wings or an aircraft equipped with fixed wings. In the following description, the unmanned aerial vehicle 1 as a drone is taken as an example, but the present invention can be applied to an unmanned aircraft equipped with fixed wings. In the following description, the vertical direction is described based on the flight state of the unmanned aerial vehicle 1.

[0010] The unmanned aerial vehicle 1 includes a flight body part 2 in which a flight control unit such as a circuit board is arranged inside, and a holding unit 3 attached below the flight body part 2 for loading and holding various objects.

[0011] Further, the unmanned aerial vehicle 1 can separate and connect the flight body part 2 and the holding unit 3 by relatively rotating the flight body part 2 and the holding unit 3. By connecting the flight body part 2 and the holding unit 3, the holding unit 3 is supported by the flight body part 2.

[0012] The unmanned aerial vehicle 1 includes a regulating unit 4 (not shown in FIG. 1) that regulates the relative rotation of the flight body part 2 and the holding unit 3 when the flight body part 2 and the holding unit 3 are connected.

[0013] The flight body part 2 has a plurality of arms 5. The flight body part 2 is provided with propellers 6 attached to the tip ends of the respective arms 5. Each propeller 6 is driven in accordance with the control of a flight control unit arranged in the flight body part 2. Thereby, the flight body part 2 has a flight function.

[0014] The holding unit 3 can hold various objects as the load 7 by a holding mechanism (not shown). In FIG. 1, a camera device as the load 7 is held by the holding unit 3.

[0015] The holding unit 3 includes a plurality of skids 8 formed in a rod shape protruding downward. The skids 8 are arranged to extend below the load 7, and when the unmanned aerial vehicle 1 lands, the tip touches the ground, thereby avoiding the collision between the load 7 and the ground. Thereby, the load is protected. Note that the skid 8 may be provided on the flight body part 2.

[0016] Fig. 2 shows a view of the flight body part 2 as seen from below. The flight body part 2 is configured to have a disk-shaped support base part 9 and a ring-shaped support body 10 attached below the support base part 9.

[0017] The support body 10 is formed in a cylindrical shape extending in the circumferential direction, and openings 11 are formed at 90-degree intervals in the circumferential direction and opened downward. Adjacent portions of the openings 11 in the support body 10 are provided as support portions 12 for supporting the holding unit 3.

[0018] Further, the support body 10 is formed with an arrangement hole 13 in which a part of the regulation unit 4 is arranged. The regulation unit 4 is attached to the lower surface side of the support body 10 such that the longitudinal direction is the radial direction of the support body 10.

[0019] On the lower surface of the flight body part 2, that is, on the lower surface of the support base part 9, two regulation units 4 are respectively attached at diagonal positions sandwiching the center of the support base part 9.

[0020] As shown in Fig. 3, one regulation unit 4 includes a moving part 14 that moves in the radial direction with respect to the support body 10, a regulated part 15 that protrudes downward from the inner end of the moving part 14, and an operating part 16 that is connected to the outside of the moving part 14. The moving part 14, the regulated part 15, and the operating part 16 move integrally in the radial direction of the support body 10 as the moving part 14 moves.

[0021] In the following description, when simply described as "inside", it refers to the center side of the support 10, and when simply described as "inside direction", it refers to the direction approaching the center of the support 10. Similarly, when simply described as "outside", it refers to the outside of the support 10, and when simply described as "outside direction", it refers to the direction away from the center of the support 10.

[0022] The regulation unit 4 has an attachment portion 17 for attaching the moving portion 14 so as not to drop off from the support base portion 9. In the present embodiment, the moving portion 14 is attached to the support base portion 9 from below by a first attachment portion 17A and a second attachment portion 17B as the attachment portion 17. Further, as shown in FIG. 2, the regulation unit 4 is attached below one arm 5 so that the longitudinal direction and the axial direction of the arm 5 are the same direction. That is, when viewed from above, a part of the arm 5 and the regulation unit 4 appears to overlap.

[0023] The first attachment portion 17A and the second attachment portion 17B are not relatively moved with respect to the support base portion 9. The first attachment portion 17A and the second attachment portion 17B are fixed to the support base portion 9 by fixing means such as screws, for example. That is, the moving portion 14, the regulated portion 15, and the operation portion 16 are integrally moved with respect to the attachment portion 17 as the moving portion 14 moves.

[0024] A portion that functions as a biasing portion 18 for biasing the moving portion 14 in the outside direction is provided around the operation portion 16, the second attachment portion 17B, and the periphery thereof.

[0025] Specifically, two holder shafts 19 protruding in the inside direction are formed on the surface of the operation portion 16 facing the inside. The length of the holder shaft 19 is made longer than the distance between the second attachment portion 17B and the operation portion 16, for example.

[0026] A guide hole 20 into which a part of the holder shaft 19 is inserted is formed in the second attachment portion 17B.

[0027] The holder shaft 19 has, for example, a diameter substantially the same as that of the guide hole 20, or slightly smaller than that of the guide hole 20, and a part thereof slides inside the guide hole 20 as the operation part 16 moves in the radial direction.

[0028] For example, a spring 21 formed as a compression spring is held on the outer periphery of the holder shaft 19. The diameter of the spring 21 is made larger than that of the guide hole 20 so that the spring 21 does not enter the inside of the guide hole 20. Note that a spring placement recess where the spring 21 is arranged at the edge of the guide hole 20 may be formed on the surface of the second attachment part 17B facing the outside. The diameter of the spring placement recess is preferably substantially the same as the diameter of the spring 21, or slightly larger than the diameter of the spring 21.

[0029] The holder shaft 19, the guide hole 20, and the spring 21 function as a biasing part 18.

[0030] As understood from FIG. 3, since the spring 21 is a compression spring, the moving part 14, the restricted part 15, and the operation part 16 are always biased in the outer direction by the biasing part 18. Further, when the operation part 16 is operated to be pushed inward, the moving part 14, the restricted part 15, and the operation part 16 are moved in the inner direction.

[0031] Subsequently, FIG. 4 shows a view of the holding unit 3 when viewed obliquely from above. The holding unit 3 includes a holding base part 22 formed in a rectangular or circular plate shape, and a holding mechanism (not shown) for holding the loaded object 7.

[0032] A central hole 23 is formed in the central part of the holding base part 22. Further, on the upper surface part 22a of the holding base part 22, supported parts 24 supported by the support part 12 of the flight body part 2 are provided every 90 degrees in the circumferential direction. That is, four supported parts 24 are provided on the upper surface part 22a of the holding base part 22. Note that FIG. 4 shows a state in which the holding base part 22 and the supported parts 24 are disassembled. The number of the supported parts 24 shown in FIG. 4 is an example, and five or more supported parts 24 may be provided on the upper surface part 22a, or three or less supported parts 24 may be provided on the upper surface part 22a.

[0033] A side view of the supported part 24 is shown in FIG. 5. The supported part 24 includes a base part 25 that is a part extending upward from the upper surface part 22a, and a side protrusion part 26 that is a part extending laterally from the upper end part of the base part 25.

[0034] The lower surface part 27 of the side protrusion part 26 includes a first inclined surface part 27a formed near the tip of the side protrusion part 26, a second inclined surface part 27b formed near the base of the side protrusion part 26, and a third surface part 27c that is the part therebetween. The third surface part 27c is, for example, a surface facing substantially downward.

[0035] When attaching the holding unit 3 to the flight body part 2, first, substantially the entire supported part 24 formed on the holding unit 3 is inserted into the opening 11 formed in the flight body part 2. Then, the holding unit 3 is rotated counterclockwise when viewed from above with respect to the flight body part 2.

[0036] In the following description, the counterclockwise rotation when viewed from above is simply described as "counterclockwise rotation". Also, the counterclockwise direction in the circumferential direction when viewed from above is simply described as "counterclockwise direction". Also, the reverse direction of the counterclockwise rotation or the counterclockwise direction is described as "clockwise rotation" or "clockwise direction".

[0037] FIG. 6 shows a state in which substantially the entire supported part 24 is inserted into the opening 11 and the holding unit 3 is slightly rotated counterclockwise with respect to the flight body part 2. FIG. 6 shows a state in which the first inclined surface part 27a is in contact with the inclined surface part 11a formed near the opening 11. In this state, a gap S still exists between the lower surface of the support 10 of the flight body part 2 and the upper surface part 22a of the holding unit 3.

[0038] When the holding unit 3 is further rotated counterclockwise from the state shown in Fig. 6, the first inclined surface portion 27a of the supported portion 24 rides up on the inclined surface portion 11a, and the gap S between the lower surface of the support 10 and the upper surface portion 22a of the holding unit 3 becomes smaller.

[0039] Fig. 7 shows a state in which the holding unit 3 has been rotated counterclockwise with respect to the flight body portion 2 until it is cut off. In this state, the base portion 25 of the supported portion 24 and the edge portion of the opening 11 are in contact. And the gap S between the lower surface of the support 10 and the upper surface portion 22a of the holding unit 3 has substantially disappeared. Also, the third surface portion 27c of the supported portion 24 is in a state of being supported by the support portion 12 of the support 10.

[0040] As described above, the unmanned aerial vehicle 1 is provided with a mechanism for restricting the relative rotation between the flight body portion 2 and the holding unit 3. Specifically, it is provided with a mechanism for preventing the holding unit 3 from rotating clockwise with respect to the flight body portion 2 from the state shown in Fig. 7, thereby preventing the supported portion 24 from falling off from the opening 11.

[0041] On the inner peripheral surface of the central hole 23 in the holding unit 3, as shown in Fig. 4, there are formed a protruding portion 28 that is displaced inward in the clockwise direction, a concave surface portion 29 that is a portion following the protruding portion 28 and forms a concave portion, and a convex surface portion 30 that is a portion continuous with the concave surface portion 29 and protrudes inward.

[0042] The protruding portion 28, the concave surface portion 29, and the convex surface portion 30 function as a restricting portion 31 for restricting the relative rotation between the flight body portion 2 and the holding unit 3.

[0043] The restricting portions 31 are provided at positions that are diagonal with respect to the center of the central hole 23 (see Fig. 4).

[0044] Here, the restricting portion 31 restricts the circumferential movement of the restricted portion 15 of the restricting unit 4. The relationship between the restricting portion 31 and the restricted portion 15 will be described with reference to the respective figures.

[0045] FIG. 8 is a view from above with a part in cross section showing the state in which the supported portion 24 of the holding unit 3 is inserted into the opening 11 of the support body 10. In each figure, for convenience of explanation, overlapping lines may be intentionally separated and shown. Also, a part of the unmanned aerial vehicle 1 is not shown.

[0046] In the state shown in FIG. 8, the supported portion 24 is not supported by the support portion 12, and the regulated portion 15 of the moving portion 14 of the regulation unit 4 is in contact with the edge portion of the central hole 23 other than the regulation portion 31.

[0047] The position of the moving portion 14 in the state where the regulated portion 15 is in contact with the edge portion of the central hole 23 other than the regulation portion 31 is defined as the "first position". However, not limited thereto, the first position may be the position of the moving portion 14 in the state where the spring 21 is maximally extended before the holding unit 3 is attached to the flight body portion 2.

[0048] FIG. 9 is a side view of the regulation unit 4 in the state shown in FIG. 8. As shown, the holder shaft 19 in the biasing portion 18 is in a state where a part thereof is inserted into the guide hole 20, but the spring 21 is not fully compressed.

[0049] Subsequently, FIG. 10 shows the state in which the holding unit 3 is rotated counterclockwise with respect to the flight body portion 2. As shown, a part of the supported portion 24 is supported by the support portion 12, and the regulated portion 15 of the moving portion 14 of the regulation unit 4 is in contact with the overhanging portion 28.

[0050] FIG. 11 is a side view of the regulation unit 4 at this time. As shown, the holder shaft 19 in the biasing portion 18 is in a state of passing through the guide hole 20 to the opposite side of the second attachment portion 17B, and the spring 21 is in a more compressed state than that shown in FIG. 9.

[0051] Subsequently, Fig. 12 shows a state where the holding unit 3 is further rotated counterclockwise with respect to the flight body unit 2. As shown in the figure, most of the side protrusion 26 in the supported portion 24 is supported by the support portion 12, and the regulated portion 15 of the moving portion 14 of the regulation unit 4 is in contact with the concave surface portion 29. The regulation unit 4 in this state is in a state where the moving portion 14 is located at the first position as shown in Fig. 9, or a state close thereto.

[0052] And since the convex surface portion 30 in the regulation portion 31 is in contact with the regulated portion 15, further counterclockwise rotation of the regulated portion 15 is restricted. As a result, the counterclockwise rotation of the holding unit 3 with respect to the flight body unit 2 is restricted.

[0053] Also, since the overhanging portion 28 in the regulation portion 31 is located adjacent to the regulated portion 15, the clockwise rotation of the holding unit 3 with respect to the flight body unit 2 is also restricted. Therefore, the relative rotation between the flight body unit 2 and the holding unit 3 is restricted, and the holding unit 3 is stably held by the flight body unit 2.

[0054] Note that the regulation portion 31 may be formed thicker than other portions of the holding base portion 22. Thereby, it is possible to prevent the regulated portion 15 from getting over the regulation portion 31 in the outer direction.

[0055] Note that in the state shown in Fig. 12 where the regulated portion 15 is regulated by the regulation portion 31, a slight play may be provided. That is, the relative rotation between the flight body unit 2 and the holding unit 3 may be possible to such an extent that the regulated portion 15 does not get over the overhanging portion 28 or the convex surface portion 30 of the regulation portion 31.

[0056] Considering mounting different holding units 3 according to the application to the flight body unit 2, it is necessary to remove the holding unit 3 from the flight body unit 2.

[0057] To remove the holding unit 3 from the flight body 2, first, push the operation part 16 of the restricting unit 4 inward. Specifically, by pushing the operation part 16 inward, as shown in Fig. 13, the restricted part 15 is moved inward from the overhanging part 28 of the restricting part 31.

[0058] At this time, as described above, the restricting unit 4 is arranged such that its longitudinal direction is along the arm 5. In other words, the restricting unit 4 and the arm 5 are arranged at positions where a part of them overlaps when viewed from above and below. Fig. 14 is a diagram showing the relationship between the arm 5 and the restricting unit 4, and shows the state viewed from below.

[0059] As shown in Fig. 14, an operator performing the removal work can push the operation part 16 inward with his thumb while gripping the arm 5. Thereby, the operation part 16 can be pushed inward with a strong force, and it is made easy to move the restricted part 15 inward from the overhanging part 28 and the concave part 29. That is, the efficiency of the removal work is improved.

[0060] The position of the moving part 14 in the state where the restricted part 15 is moved inward from the overhanging part 28 and the concave part 29 is defined as the "second position". However, it is not limited to this. The second position may be the position of the moving part 14 in a state where the spring 21 is compressed to the limit and the line gap disappears, or may be the position of the moving part 14 in a state where the operation part 16 is pushed inward with a predetermined force. Also, the second position may be the position of the moving part 14 in a state where the restricted part 15 is located inward from the overhanging part 28 and outward from the convex part 30. Thereby, in the state where the moving part 14 is located at the second position, the clockwise rotation of the holding unit 3 with respect to the flight body 2 is not restricted, and the counterclockwise rotation is restricted by the convex part 30. That is, it is possible to prevent the holding unit 3 from being rotated in the wrong direction with respect to the flight body 2.

[0061] <2. Second Embodiment> The configuration of the holding unit 3 in the second embodiment is different from that in the first embodiment. Specifically, the holding unit 3 is provided with a configuration for corresponding to a plurality of types of flight body parts 2.

[0062] As shown in FIG. 2, there are various types of flight body parts 2, such as those having four arms 5 and those having six arms 5 as shown in FIG. 15. Here, the flight body part 2 having four arms 5 is designated as the flight body part 2A, and the flight body part 2 having six arms 5 is designated as the flight body part 2B.

[0063] In the holding unit 3A in the present embodiment, on the inner peripheral surface of the central hole 23A of the holding base part 22A, a restricting part 31A provided corresponding to the flight body part 2A and a restricting part 31B provided corresponding to the flight body part 2B are formed. Note that the restricting part 31A and the restricting part 31B each include an overhanging part 28, a concave part 29, and a convex part 30, similar to the first embodiment, but the illustration of the reference numerals is omitted.

[0064] The restricting part 31B corresponding to the flight body part 2B is provided at a position overlapping with the center axis of the arm 5 or the arm 5 when the rotation of the holding unit 3A with respect to the flight body part 2B is restricted.

[0065] Thereby, it is possible to improve the working efficiency when attaching the holding unit 3A to the flight body part 2B having six arms 5 or when detaching the holding unit 3A from the flight body part 2B.

[0066] It should be noted that the present invention can also be applied to the holding unit 3 corresponding to the flight body part 2 having not only four arms 5 or six arms 5 but also other numbers of arms 5.

[0067] In particular, in the holding unit 3 corresponding to the flight body part 2 having an odd number of arms 5, when the restricting parts 31 are respectively provided at the diagonals of the central hole 23, the restricting unit 4 is also provided at a position corresponding to the restricting part 31. And in this case, only one of the two regulating units 4 may be disposed below the arm 5. Thereby, regarding the operation unit 16 of one regulating unit 4, since an operation while gripping the arm 5 is enabled, an effect of improving work efficiency can be obtained.

[0068] <3. Modification Example> In each of the above-described embodiments, various modification examples can be applied. For example, although an example in which the regulating unit 4 is attached to the flight body part 2 (2A, 2B) and the regulating parts 31 (31A, 31B) corresponding to the regulated part 15 are provided in the holding unit 3 (3A) is shown, the present invention is not limited thereto. That is, the regulating unit 4 may be attached to the holding unit 3 (3A), and the regulating parts 31 (31A, 31B) corresponding to the regulated part 15 may be provided in the flight body part 2 (2A, 2B).

[0069] In other words, when either one of the flight body part 2 (2A, 2B) and the holding unit 3 (3A) is used as the first member and the other is used as the second member, it is sufficient that the regulating unit 4 is attached to the first member and the regulating parts 31 (31A, 31B) corresponding to the regulated part 15 are provided in the second member.

[0070] In each of the above-described examples, an example in which the regulated part 15 is formed in a rod shape protruding downward and the regulating part 31 is formed to have a curved surface that contacts the side surface of the rod-shaped regulated part 15 is shown, but the present invention is not limited thereto. That is, when the holding unit 3 (3A) is rotated counterclockwise (clockwise is also possible) with respect to the flight body part 2 (2A, 2B), at least a part of the regulated part 15 may be interfered with by a part of the regulating part 31 during movement in the counterclockwise direction (or clockwise direction) when the amount of rotation exceeds a predetermined amount. Also, in that case, the biasing direction of the regulated part 15 may be a direction in which the interference is strengthened.

[0071] In each of the above examples, the flight body 2 (2A, 2B) is provided with a support portion 12 that is a surface facing upward, and the holding unit 3 (3A) is provided with a lateral protrusion 26 that protrudes laterally as a portion supported by the support portion 12. However, the present invention is not limited to this. For example, the flight body 2 (2A, 2B) may be provided with a portion that protrudes laterally as a support portion, and the holding unit 3 (3A) may be provided with a surface that is supported by the protruding portion as a supported portion. As an example, the flight body 2 (2A, 2B) may be provided with a protruding support portion, and the holding unit 3 (3A) may be provided with a hole-shaped supported portion.

[0072] <4. Summary> As described above, the unmanned aerial vehicle 1 includes a flight body 2 (2A, 2B) having a plurality of arms 5 to which the propellers 6 are attached and provided with a support portion 12, a holding unit 3 (3A) provided with a supported portion 24 supported by the support portion 12 and holding a load 7, and a regulating unit 4 that regulates the rotation of the holding unit 3 with respect to the flight body 2. Further, either the flight body 2 or the holding unit 3 is a first member and the other is a second member, and the regulating unit 4 is provided with a regulated portion 15 that is movable between a first position and a second position with respect to the first member. Further, the second member has a regulating portion 31 (31A, 31B) with which the regulated portion 15 abuts in a state where the supported portion 24 is supported by the support portion 12. In a state where the relative rotation of the first member and the second member is regulated by the regulated portion 15 abutting against the regulating portion 31, the longitudinal direction of the regulating unit 4 is provided along the arm 5. That is, the flight body 2 and the holding unit 3 are connected, and during the relative rotation of the flight body 2 and the holding unit 3, the regulated portion 15 is regulated by the regulating portion 31, and the relative rotation of the flight body 2 and the holding unit 3 stops. And in that state, the regulating unit 4 is in a state along the arm 5. In other words, the longitudinal direction of the regulating unit 4 and the axial direction of the arm 5 located in the vicinity thereof are in a substantially parallel state. As a result, when the relative rotation between the flight body portion 2 and the holding unit 3 is restricted or in a state immediately before being restricted, the longitudinal direction of the restricting unit 4 and the axial direction of the arm 5 are in a state where they substantially coincide. Therefore, in a state immediately before the relative rotation between the flight body portion 2 and the holding unit 3 is restricted, it becomes possible to perform a rotation operation (connection operation) while gripping the restricting unit 4 together with the arm 5. Thereby, the efficiency of the operation of attaching the holding unit 3 to the flight body portion 2 can be improved.

[0073] As described above, in the unmanned aerial vehicle 1, the first member may be the flight body portion 2 (2A, 2B), and the second member may be the holding unit 3 (3A). Thereby, the arm 5 and the restricting unit 4 are attached to the flight body portion 2 side. That is, when the flight body portion 2 and the holding unit 3 are relatively rotated, the restricting unit 4 and the arm 5 are similarly rotated with respect to the holding unit 3. Therefore, the longitudinal direction of the restricting unit 4 and the axial direction of the arm 5 are always in a state of coincidence regardless of the rotation state. In other words, the restricting unit 4 is always positioned below the arm 5. Thereby, when attaching the holding unit 3 to the flight body portion 2, it becomes possible to perform the operation while gripping both the arm 5 and the restricting unit 4, and the work efficiency can be improved. Moreover, the load on the arm 5 can be reduced compared to performing the attachment operation by gripping only the arm 5.

[0074] As described with reference to FIGS. 8, 10, 12, etc., the unmanned aerial vehicle 1 may include a biasing portion 18 that biases the restricted portion 15 to the outer peripheral side of the second member (the outer peripheral end side of the moving portion 14). And, the restricting portion 31 (31A, 31B) may be provided with an overhanging portion 28 that protrudes toward the center side of the second member. Thus, in the process of relatively rotating the first member and the second member, the restricted portion 15 gets over the protruding portion 28 of the restricting portion 31. At this time, since the biasing portion 18 that biases the restricted portion 15 toward the outer peripheral end side is provided, the movement of the restricted portion 15 toward the protruding portion 28 side is prevented, and the state where the relative rotation of the first member and the second member is restricted can be stably maintained. Therefore, it is possible to prevent the connection state between the flight body portion 2 (2A, 2B) and the holding unit 3 (3A) from being released and the holding unit 3 from falling off the flight body portion 2.

[0075] As described above, the biasing portion 18 in the unmanned aerial vehicle 1 may be configured to have a spring 21. Thereby, the restricted portion 15 can be biased toward the outer peripheral end side with a member that is easily available and a simple structure.

[0076] As described with reference to FIG. 3 and the like, an operation portion 16 for moving the restricted portion 15 in a direction opposite to the biasing direction of the biasing portion 18 may be provided in the restricting unit 4 in the unmanned aerial vehicle 1. Thereby, an operation for releasing the state where the restricted portion 15 is in contact with the restricting portion 31 (31A, 31B) becomes possible. Therefore, the work efficiency when replacing the holding unit 3 (3A) with respect to the flight body portion 2 (2A, 2B) can be improved.

[0077] As described with reference to FIGS. 13 and 14 and the like, the operation portion 16 in the unmanned aerial vehicle 1 may be moved by an operation of pushing it in the direction of the center of the holding unit 3 (3A), and the restricted portion 15 may be moved in a direction opposite to the biasing direction based on the movement of the operation portion 16. The pushing operation is easier than the pulling operation, and a stronger force can be applied. Therefore, the work efficiency when replacing the holding unit 3 with respect to the flight body portion 2 (2A, 2B) can be improved.

[0078] As described with reference to FIG. 2 and the like, one restricting unit 4 may be provided at each of the diagonal positions sandwiching the central portion of the first member constituting the unmanned aerial vehicle 1. Thus, the operation of attaching the holding unit 3 (3A) to the flight body part 2 (2A, 2B) while gripping the two arms 5 can be performed. Therefore, workability can be ensured and work efficiency can be improved.

[0079] As described in the second embodiment, the holding unit 3A in the unmanned aircraft 1 may be provided with a plurality of restricting units 31A, 31B corresponding to the respective restricted parts 15 provided in a plurality of types of flight body parts 2A, 2B having different numbers of arms 5. This makes it possible to attach the same holding unit 3A to the flight body parts 2A, 2B having different numbers of arms 5. Therefore, since it is not necessary to prepare different holding units 3 according to the flight body parts 2A, 2B, cost reduction can be achieved.

Explanation of Reference Numerals

[0080] 1 Unmanned aircraft 2, 2A, 2B Flight body part 3, 3A Holding unit 4 Restricting unit 5 Arm 6 Propeller 7 Load 12 Support part 15 Restricted part 16 Operation part 18 Biasing part 21 Spring 24 Supported part 28 Protruding part 31, 31A, 31B Restricting unit

Claims

1. A flight body having a plurality of arms to which a propeller is attached and provided with a support portion, A holding unit provided with a supported portion supported by the support portion and holding a load, A restricting unit that restricts the rotation of the holding unit with respect to the flight body, and The flight body and the holding unit are such that one of them is a first member and the other is a second member, The restricting unit is provided with a restricted portion that is movable between a first position and a second position with respect to the first member, The second member has a restricting portion with which the restricted portion abuts in a state where the supported portion is supported by the support portion, In a state where the relative rotation of the first member and the second member is restricted by the restricted portion abutting against the restricting portion, The longitudinal direction of the restricting unit is provided along the arm, The direction from the first position to the second position and the longitudinal direction of the restricting unit are the same direction, The first position is a rotation restricting position, The second position is a rotation releasing position, An unmanned aerial vehicle.

2. The first member is the flight body, The second member is the holding unit, The unmanned aerial vehicle according to claim 1.

3. Comprising a biasing portion that biases the restricted portion to the outer peripheral side of the second member, The restricting portion is provided with a protruding portion protruding toward the center side of the second member, The unmanned aerial vehicle according to claim 1.

4. The biasing portion is configured to have a spring, The unmanned aerial vehicle according to claim 3.

5. The restricting unit is provided with an operating portion for moving the restricted portion in a direction opposite to the biasing direction of the biasing portion, The unmanned aerial vehicle according to claim 4.

6. The operating portion is moved by an operation of pushing it toward the center of the holding unit, The restricted portion is moved in the opposite direction based on the movement of the operating portion, The unmanned aerial vehicle according to claim 5.

7. One restricting unit is provided at each of the diagonal positions sandwiching the central portion of the first member, The unmanned aerial vehicle according to any one of claims 1 to 6.

8. The holding unit is provided with a plurality of the restricting portions corresponding to the respective restricted portions provided in each of the plurality of types of the flight bodies having different numbers of the arms, The unmanned aerial vehicle according to claim 2.

9. In a plan view, at least a part of the restricting unit and the arm overlap. The unmanned aerial vehicle according to claim 1. According to claim 10, the regulating unit is provided with a concave portion for regulating the rotation of the unit to be regulated. The unmanned aerial vehicle according to claim 1.

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