Multi-copter

Abstract

To provide a multicopter improved in portability without complicating a manufacturing process.SOLUTION: The multicopter comprises a plurality of shaft units which have a first shaft mounted with a propeller, a second shaft connected to a main body part, and a connecting part connecting the first shaft to the second shaft. The first shaft has a first engaging part that engages with the connecting part. The connecting part has a second engaging part that engages with the first engaging part, which can move between a first position where the first engaging part engages with the second engaging part so as to disenable the first shaft to turn with respect to the connecting part and a second position where the first engaging part does not engage with the second engaging part so as to enable the first shaft to turn with respect to the connecting part. The first shaft is enabled to turn with a second axis inclining with respect to a first axis set as a rotating axis of a propeller, in a state where the first engaging part is not in engagement with the second engaging part.SELECTED DRAWING: Figure 14

Description

Technical Field

[0001] The present invention relates to technologies for multicopters.

Background Art

[0002] Multicopters such as drones are often small compared to other flying objects and are thus used in various applications. Further, by enhancing their portability, such multicopters can have an even wider range of operating scenarios. For example, Patent Document 1 discloses a drone whose arms can be folded.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The drone described in Patent Document 1 is configured such that by forming the shape of the arms into a shape other than a straight line, a part of adjacent arms can be overlapped in the vertical direction. However, since the arm shape is more complex than a straight line, the manufacturing difficulty increases.

[0005] This proposal was invented based on such a background, and aims to propose a multicopter with enhanced portability without causing manufacturing complexity.

Means for Solving the Problems

[0006] The multi-copter according to the present invention includes a plurality of shaft units each having a first shaft to which a propeller is attached, a second shaft connected to the main body, and a connecting portion that connects the first shaft and the second shaft. The first shaft has a first engaging portion that engages with the connecting portion, and the connecting portion has a second engaging portion that engages with the first engaging portion. The first engaging portion and the second engaging portion are movable between a first position where they engage with each other and rotation of the first shaft with respect to the connecting portion is disabled, and a second position where they do not engage with each other and rotation is enabled. The first shaft is in a state where the first engaging portion and the second engaging portion do not engage with each other and the first shaft and the connecting portion are rotated more than in the state where they are located at the first position with respect to the second shaft is rotatable about a second axis inclined with respect to a first axis that is the rotation axis of the propeller. For example, by rotating about a second axis inclined with respect to a first axis that is a vertical axis, the height of the tip when the first shaft of a certain shaft unit is folded and the height of the second shaft portion of an adjacent shaft unit can be made different.

Advantages of the Invention

[0007] According to the present invention like this, the portability of the multi-copter can be enhanced without causing complexity in manufacturing.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Embodiments for Carrying Out the Invention

[0009] <1. Configuration of Multicopter> The multicopter 1 in the first embodiment will be described with reference to the accompanying drawings. In the following description, the vertical direction is shown based on the attitude of the multicopter 1 during flight.

[0010] The multicopter 1 is equipped with a plurality of rotors. For example, as shown in FIG. 1, it includes a main body 2 in which a flight control unit such as a circuit board is disposed, a rod-shaped shaft unit 3 provided so as to protrude laterally from the main body 2, and skids 4 protruding downward from the main body 2.

[0011] The main body 2 is configured to have a protective cover 5 for protecting the flight control unit disposed therein.

[0012] The protective cover 5 is provided with insertion holes 5a through which the shaft unit 3 is inserted, and the insertion holes 5a are circumferentially spaced apart by the number of the shaft units 3. Note that this is not the case when the main body 2 does not have the protective cover 5.

[0013] The shaft unit 3 is formed in a substantially straight rod shape, and a propeller 6 is attached to the tip. The rotation axis of the propeller 6 is an axis extending in the vertical direction (up and down direction). The configuration of the shaft unit 3 will be described later in detail.

[0014] The skids 4 are provided to ensure a stable posture when the multicopter 1 lands. Various shapes of the skids 4 are conceivable. In the example shown in FIG. 1, two skids 4 are provided at the lower part of the main body 2.

[0015] Each skid 4 includes a pair of legs 7 extending obliquely downward and a grounding portion 8 that connects the pair of legs 7 and touches the ground when landing.

[0016] <2. Configuration of Shaft Unit> As shown in FIG. 2, the shaft unit 3 includes a first shaft 9, a second shaft 10, a connecting portion 11, and a locking portion 12.

[0017] The shaft unit 3 is connected in the order of the second shaft 10, the connecting portion 11, and the first shaft 9, and the end on the second shaft 10 side is connected to the main body 2.

[0018] The first shaft 9 has a base end portion 9a at the end connected to the connecting portion 11 and a tip end portion 9b at the end to which the propeller 6 is attached.

[0019] The first shaft 9 is capable of rotating the tip end portion 9b in a substantially horizontal direction with respect to the base end portion 9a. In the following description, the state in which the axis X1 of the first shaft 9 and the axis X2 of the second shaft 10 are the same axis, that is, the state in which the first shaft 9 and the second shaft 10 are in a straight bar shape, is defined as the "normal state" of the shaft unit 3, and the state in which the tip end portion 9b is rotated in a substantially horizontal direction with respect to the base end portion 9a, that is, the state in which the first shaft 9 is bent near the base end portion 9a with respect to the second shaft 10, is described as the "stored state" of the shaft unit 3. That is, FIG. 2 is a view showing the shaft unit 3 in the normal state. Also, the axial direction of the axis X1 of the first shaft 9 is described as the "axial direction D1". Similarly, the axial direction of the axis X2 of the second shaft 10 is described as the "axial direction D2".

[0020] A perspective view of the shaft unit 3 in a state where it is disassembled into the first shaft 9, the second shaft 10, the connecting portion 11, and the locking portion 12 is shown in FIG. 3.

[0021] The first shaft 9 has a shaft portion 13 formed in a shaft shape, a mounting portion 14 to which one end of the shaft portion 13 is connected and the locking portion 12 is attached, an engagement base portion 15 continuous from the mounting portion 14, and a first engagement portion 16 protruding from the engagement base portion 15 in the axial direction D1.

[0022] The mounting portion 14 is formed in a cubic shape and has a mounting groove 17 in which the locking portion 12 formed in a substantially U shape is attached from the side. The mounting groove 17 is a recess formed across the upper surface, side surface, and lower surface of the mounting portion 14.

[0023] The mounting portion 14 has a placement groove 18 in which the tip end portion of the connecting portion 11 is placed, formed on the upper surface and the lower surface. The mounting groove 18 is a concave portion formed on the upper surface of the mounting portion 14 and extending in the axial direction D1.

[0024] The engaging base portion 15 is formed, for example, in a cubic shape. L-shaped grooves 15a are formed on the upper surface and the lower surface of the engaging base portion 15.

[0025] The first engaging portion 16 is formed in a substantially flat plate shape extending in the axial direction D1 from the engaging base portion 15.

[0026] In the first engaging portion 16, an intermediate portion 16a, which is the portion between both ends in the axial direction D1, is engaged with the connecting portion 11, and an end portion 16b on the side opposite to the portion continuous with the engaging base portion 15 is engaged with the second shaft 10.

[0027] Fig. 4 shows a cross-section perpendicular to the axial direction D1 of the mounting portion 14. As shown in the figure, on one side surface of the mounting portion 14 facing the direction perpendicular to the axial direction D1, a recess open laterally is formed. The recess is a sliding recess 19 into which a part of the locking portion 12 is inserted and a part of the locking portion 12 slides.

[0028] The sliding recess 19 is, for example, a cubic hole. Further, on the inner surface of the sliding recess 19, a spring holding portion 21 for holding the spring member 20 is formed. The spring holding portion 21 is formed in a cylindrical shape facing laterally, and a screw thread is formed inside.

[0029] Returning to the description of Fig. 3. The connecting portion 11 includes a cylindrical portion 22 formed in a rectangular cylindrical shape, protruding portions 23 protruding in the axial direction D1 from the upper surface and the lower surface of the cylindrical portion 22, respectively, and an insertion protrusion 24 inserted into a hole formed in the second shaft 10.

[0030] The insertion protrusion 24 functions as a rotation axis when the connecting portion 11 rotates around the axis of the axis X2 with respect to the second shaft 10.

[0031] The cylindrical portion 22 is composed of an upper surface portion 25, a lower surface portion 26, and a side surface portion 27.

[0032] On the side surface portion 27, a sliding groove 28 extending in the axial direction D1 is formed on the inner side. The sliding groove 28 engages with the end portion of the intermediate portion 16a of the first engaging portion 16. By moving the connecting portion 11 in the axial direction D1 with respect to the first shaft 9, the end portion of the intermediate portion 16a slides along the groove of the sliding groove 28, that is, slides in the axial direction D1. Note that by largely moving the connecting portion 11 in the axial direction D1 with respect to the first shaft 9, the engagement state between the end portion of the intermediate portion 16a and the sliding groove 28 is released.

[0033] The sliding groove 28 functions as a second engaging portion that engages with the first engaging portion 16.

[0034] At the end of the cylindrical portion 22 opposite to the end where the protruding portion 23 is formed, a rod-shaped rotation restricting protrusion 29 protruding in the axial direction D1 is formed at one of the four corners.

[0035] The rotation restricting protrusion 29 is inserted into a hole (groove) of a predetermined length formed in the second shaft 10, thereby restricting the rotation of the connecting portion 11 with respect to the second shaft 10, specifically, the rotation around the axis in the axial direction D2.

[0036] The protruding portion 23 is formed with an engaging groove 30 into which the locking portion 12 is engaged. In the protruding portion 23 protruding in the axial direction D1 from the upper surface of the cylindrical portion 22, the engaging groove 30 is formed on the upper surface side. Also, in the protruding portion 23 protruding in the axial direction D1 from the lower surface of the cylindrical portion 22, the engaging groove 30 is formed on the lower surface side.

[0037] The engaging groove 30 is configured such that the locking portion 12 in a partially engaged state can slide. Specifically, a part of the locking portion 12 in a state of being fitted into the mounting groove 17 of the first shaft 9 is engaged with the engaging groove 30.

[0038] The protruding portion 23 is formed with a rotation shaft portion 23a that is inserted into the L-shaped groove 15a of the engagement base portion 15 of the first shaft 9. The rotation shaft portion 23a is formed so as to connect the opposing surfaces of the two protruding portions 23. In the example shown in FIG. 3, a screw inserted so as to penetrate the two protruding portions 23 functions as the rotation shaft portion 23a. The L-shaped groove 15a is composed of a first groove 15a1 that is a portion extending in the axial direction D1, and a second groove 15a2 that is a portion continuous with the first groove 15a1 and extends in a direction perpendicular to the end of the first groove 15a1.

[0039] When the rotation shaft portion 23a is inserted into the first groove 15a1 of the connecting portion 11, the connecting portion 11 is movable in the axial direction D1 with respect to the first shaft 9 by the length of the first groove 15a1. That is, the first groove 15a1 functions as a guide when moving the connecting portion 11 in the axial direction D1 with respect to the first shaft 9.

[0040] The position of the connecting portion 11 when the rotation shaft portion 23a is located at the end of the first groove 15a1 opposite to the continuous portion with the second groove 15a2, that is, the position of the connecting portion 11 when the protruding portion 23 of the connecting portion 11 is located on the tip side of the shaft unit 3, is defined as the "first position".

[0041] Also, the position of the connecting portion 11 when the rotation shaft portion 23a is located at the continuous portion of the first groove 15a1 and the second groove 15a2, that is, the position of the connecting portion 11 when the protruding portion 23 of the connecting portion 11 is located on the base end side of the shaft unit 3, is defined as the "second position".

[0042] The rotation shaft portion 23a functions as a rotation shaft when rotating the first shaft 9 with respect to the connecting portion 11.

[0043] Note that when the rotation shaft portion 23a is located in the second groove 15a2 of the L-shaped groove 15a, interference between the respective portions when rotating the first shaft 9 with respect to the connecting portion 11 is avoided.

[0044] The second shaft 10 is configured to include a shaft portion 31 formed in a shaft shape and an engagement end portion 32 formed in a substantially cubic shape and continuous with the shaft portion 31.

[0045] On the surface of the engagement end portion 32 facing the axial direction D1, a linear groove 33 is formed with which the end portion 16b of the first engagement portion 16 of the first shaft 9 engages.

[0046] When the end portion 16b of the first engagement portion 16 engages with the linear groove 33, rotation of the first shaft 9 around the axis with respect to the second shaft 10 is disabled.

[0047] The linear groove 33 functions as a third engagement portion that engages with the first engagement portion 16.

[0048] A rotation hole 34 opened in the axial direction D2 is formed at a substantially central portion of the linear groove 33. The insertion protrusion 24 of the connecting portion 11 is inserted into the rotation hole 34, and the connecting portion 11 is rotatable around the axis of the insertion protrusion 24 with respect to the second shaft 10 in a state where the end portion 16b of the first engagement portion 16 and the linear groove 33 are not engaged.

[0049] Also, on the base end side of the insertion protrusion 24 opposite to the tip end portion, a groove is formed that forms a groove integral with the linear groove 33 in a state of being inserted into the rotation hole 34. Thereby, in a state where the insertion protrusion 24 is inserted into the rotation hole 34, the end portion 16b of the first engagement portion 16 of the first shaft 9 can engage with the linear groove 33. Also, in a state where the end portion 16b is engaged with the linear groove 33, the first shaft 9 and the connecting portion 11 rotate integrally around the axis of the axis X2 with respect to the second shaft 10.

[0050] The engagement end portion 32 is provided with a mechanism for determining the movable range (rotation angle) in the rotation of the connecting portion 11 with respect to the second shaft 10. Specifically, a rotation restricting hole 35 into which a rotation restricting protrusion 29 is inserted is formed on the surface of the engagement end portion 32 where the linear groove 33 is formed.

[0051] The length of the hole of the rotation restricting hole 35 is set to a length that enables the connecting portion 11 to rotate 12 degrees around the axis of the axis X2 with respect to the second shaft 10, for example.

[0052] As shown in FIG. 5, the locking portion 12 is formed in a substantially U shape, and includes a base portion 36 and a pair of claw portions 37 that project laterally from both ends of the base portion 36.

[0053] The base portion 36 is formed with a mounting hole 38 that is a hole extending in the direction in which the claw portions 37 project.

[0054] The mounting hole 38 is composed of a large-diameter portion 39 and a small-diameter portion 40 that is continuous with the large-diameter portion 39 and has a smaller diameter than the large-diameter portion 39.

[0055] The spring holding portion 21 formed on the mounting portion 14 of the first shaft 9 is inserted into the small-diameter portion 40 (see FIG. 5). With the spring holding portion 21 inserted into the small-diameter portion 40, a screw 41 is screwed from the large-diameter portion 39 side into the thread formed on the inner peripheral surface of the spring holding portion 21, whereby the locking portion 12 is attached to the mounting portion 14.

[0056] The diameter of the screw head of the screw 41 is made larger than the small-diameter portion 40 and smaller than the large-diameter portion 39, thereby preventing the screw 41 from moving from the large-diameter portion 39 to the small-diameter portion 40 side.

[0057] The stepped portion formed at the boundary between the large-diameter portion 39 and the small-diameter portion 40 functions as a retaining portion 42 that prevents the locking portion 12 from falling off from the mounting portion 14 of the first shaft 9 by abutting against the screw head of the screw 41.

[0058] Note that the locking portion 12 is biased by the spring member 20 in the direction away from the mounting portion 14, that is, in the direction in which the locking portion 12 is removed from the mounting portion 14 as shown in FIG. 6, in a state where the locking portion 12 is attached to the mounting portion 14 by the screw 41.

[0059] The claw portion 37 has an insertion recess 43 formed inside a substantially central portion in the longitudinal direction. The insertion recess 43 is a recess into which the protruding portion 23 of the connecting portion 11 is inserted.

[0060] The vicinity of the tip of the claw portion 37 is a thick portion 44 that is thicker than the portion where the insertion recess 43 is formed.

[0061] The space between the outer peripheral surface of the small-diameter portion 40 of the base portion 36 and the claw portion 37 is a retreat space 45 into which the edge of the sliding recess 19 of the mounting portion 14 retreats.

[0062] As shown in FIG. 7, the locking portion 12 can be pushed into the mounting portion 14. Here, the position of the locking portion 12 in the state where the locking portion 12 is biased by the spring member 20 and the width of the retreat space 45 is maximized, that is, the position of the locking portion 12 in the state where the locking portion 12 is not pushed into the mounting portion 14 (see FIG. 6) is defined as the "biased position".

[0063] The position of the locking portion 12 in the state where the locking portion 12 is pushed into the mounting portion 14 (see FIG. 7) is defined as the "pushed-in position". When the locking portion 12 is in the pushed-in position, the edge of the sliding recess 19 of the mounting portion 14 enters the retreat space 45, and a part of the retreat space 45 disappears.

[0064] Also, when the locking portion 12 is in the biased position, the position of the insertion recess 43 of the claw portion 37 of the locking portion 12 and the position of the arrangement groove 18 of the mounting portion 14 are shifted in the moving direction of the locking portion 12.

[0065] When the positions of the insertion recess 43 and the arrangement groove 18 are shifted, a part of the thickened portion 44 of the claw portion 37 of the locking portion 12 enters the engagement groove 30 formed in the protruding portion 23 of the connecting portion 11. Therefore, when the locking portion 12 is in the biased position, the movement of the connecting portion 11 in the axial direction D1 is restricted.

[0066] In addition, when the lock portion 12 is in the pushed-in position, the positions of the insertion recess 43 and the arrangement groove 18 are not displaced in the moving direction of the lock portion 12.

[0067] When the positions of the insertion recess 43 and the arrangement groove 18 are not displaced, a part of the thick portion 44 of the claw portion 37 of the lock portion 12 does not enter the engagement groove 30 formed in the protruding portion 23 of the connecting portion 11. Therefore, when the lock portion 12 is in the pushed-in position, the protruding portion 23 of the connecting portion 11 can move in the axial direction D1 in the space formed by the insertion recess 43 and the arrangement groove 18.

[0068] That is, the biasing position of the lock portion 12 can be regarded as a "lock position" that restricts the movement of the connecting portion 11 in the axial direction D1. And the pushed-in position of the lock portion 12 can be regarded as a "non-lock position" where the movement of the connecting portion 11 in the axial direction D1 is not restricted.

[0069] The previous Figure 2 is a perspective view of the state in which the first shaft 9, the second shaft 10, the connecting portion 11, and the lock portion 12 are combined with each other. When the intermediate portion 16a of the first engaging portion 16 is engaged with the sliding groove 28 (second engaging portion) of the connecting portion 11, the first shaft 9 is made unable to rotate with the rotation shaft portion 23a as the rotation shaft. In addition, when the end portion 16b of the first engaging portion 16 is engaged with the linear groove 33 (third engaging portion) of the second shaft 10, the first shaft 9 is made unable to rotate in the circumferential direction around the axial direction D1 with respect to the second shaft 10.

[0070] That is, the state shown in Figure 2 where the first engaging portion 16 is engaged with the second engaging portion of the connecting portion 11 and the first engaging portion 16 is engaged with the third engaging portion of the second shaft 10 is the aspect of the shaft unit 3 in the normal state of the above-described multicopter 1.

[0071] <3. Folding Procedure of Shaft Unit> The folding procedure of the shaft unit 3 will be described with reference to the attached drawings. Regarding the shaft unit 3 in the normal state shown in FIG. 2, a cross-sectional view taken along a plane perpendicular to the axis X1 is shown in FIG. 8.

[0072] As shown in the drawing, in the normal state, the shaft unit 3 is in a state where the lock portion 12 fitted in the fitting groove 17 of the mounting portion 14 is located at the biasing position, and the connecting portion 11 is located at the first position with respect to the first shaft 9. Further, the tip portion 9b of the first shaft 9 is engaged with the straight groove 33 of the second shaft 10.

[0073] FIG. 9 shows a cross-sectional view of the state where the lock portion 12 is pushed into the mounting portion 14, that is, the state where the lock portion 12 is located at the pushed-in position. As shown in the drawing, in the state where the lock portion 12 is located at the pushed-in position, the protruding portion 23 of the connecting portion 11 is allowed to move in the axial direction D1 in the space formed by the insertion recess 43 and the arrangement groove 18.

[0074] FIG. 10 shows the state where the connecting portion 11 is located at the second position. As shown in the drawing, in the state where the connecting portion 11 is located at the second position, the first shaft 9 is moved in a direction away from the connecting portion 11 and the second shaft 10.

[0075] In this state, the end portion 16b of the first engaging portion 16 of the first shaft 9 is disengaged from the straight groove 33 of the second shaft 10, and the intermediate portion 16a and the end portion 16b of the first engaging portion 16 are not engaged with the sliding groove 28 formed in the cylindrical portion 22.

[0076] FIG. 11 shows the state where the first shaft 9 and the connecting portion 11 are rotated around the axis of the axis X1 with respect to the second shaft 10. FIGS. 12 and 13 show cross-sectional views taken along the axial direction of the axis X1 of the state before and after the first shaft 9 and the connecting portion 11 are rotated around the axis of the axis X1 with respect to the second shaft 10. As shown in each drawing, the first shaft 9 and the connecting portion 11 are rotated with respect to the second shaft 10 by the rotation restricting protrusion 29 moving along the rotation restricting hole 35.

[0077] Subsequently, as shown in FIG. 14, the first shaft 9 is rotated with respect to the connecting portion 11. The rotation axis at this time is the axis X3 of the rotation axis portion 23a. The axis X3 (second axis) is inclined, for example, 12 degrees with respect to the axis X4 (first axis) which is the rotation axis of the propeller 6 and is a vertical axis. This inclination is based on the inclination of the connecting portion 11 with respect to the second shaft 10 (see FIGS. 11, 12, and 13).

[0078] By rotating the first shaft 9 with respect to the connecting portion 11 in the circumferential direction of the axis X3, the tip portion 9b of the first shaft 9 (see FIG. 2) is positioned in the vertical direction with respect to the connecting portion 11 of the adjacent shaft unit 3. This state is the storage state of the shaft unit 3 as described above.

[0079] The storage state of the shaft unit 3 is shown in FIG. 15. As shown in the figure, by setting all six shaft units 3 in the storage state, the outer shape of the multicopter 1 forms a substantially hexagonal shape when viewed from above (see FIG. 16). At this time, the tip portion of the first shaft 9 is positioned at a storage position aligned vertically with the connecting portion 11 of the adjacent shaft unit 3.

[0080] Also, the tip portion 9b of the first shaft 9 is positioned substantially above the connecting portion 11 of the adjacent shaft unit 3. The shaft unit 3 extends from a portion below the center in the vertical direction of the main body portion 2 in the normal state. Therefore, in the multicopter 1 with the skid 4 removed, when placed with the lower surface of the main body portion 2 in contact with the ground, the height can be reduced by configuring the tip portion 9b to be positioned above the adjacent connecting portion 11.

[0081] In addition, when the shaft unit 3 extends from the upper portion in the vertical direction of the main body portion 2 of the multicopter 1, the height can be similarly reduced by configuring the tip portion 9b to be positioned below the adjacent connecting portion 11.

[0082] <4. Second Embodiment> The multicopter 1A in the second embodiment is configured to make the storage state of the shaft unit 3 more stable.

[0083] Specifically, as shown in FIG. 17, the multicopter 1A includes a fixing portion 46 that connects the shaft portion 13 of the first shaft 9 of the shaft unit 3 in the storage state and the shaft portion 31 of the second shaft 10 of the shaft unit 3 adjacent in the counterclockwise direction when viewed from above.

[0084] In one aspect of the fixing portion 46 shown in FIG. 17, U-shaped connecting portions 48 are formed at both ends of the shaft 47. One U-shaped connecting portion 48 is connected to the shaft portion 13 of the first shaft 9 at one end, and the other U-shaped connecting portion 48 is connected to the shaft portion 31 of the second shaft 10.

[0085] The fixing portion 46 may be configured to be removable from the shaft unit 3. In this case, during flight of the multicopter 1A, the fixing portion 46 is in a state removed from the shaft unit 3. Then, when the multicopter 1A is being transported or stored, by attaching the fixing portion 46 to the shaft unit 3, it becomes possible to stably maintain the storage state of the shaft unit 3.

[0086] Alternatively, the fixing portion 46 may be provided integrally with the shaft unit 3. In this case, during flight of the multicopter 1A, the fixing portion 46 is attached to the shaft unit 3 at a position and posture that do not interfere with flight. Also, when the multicopter 1A is being transported or stored, the shaft units 3 are connected to each other at a position and posture where they can be connected to each other. Thereby, it becomes possible to stably maintain the storage state of the shaft unit 3.

[0087] The fixing portion 46 that connects the shaft portion 13 of the first shaft 9 of the shaft unit 3 and the shaft portion 31 of the second shaft 10 of the adjacent shaft unit 3 is merely one aspect, and other configurations are also conceivable. For example, by connecting the portion of the first shaft 9 of the shaft unit 3 where the propeller 6 is attached and the connecting portion 11 of the adjacent shaft unit 3, it may be possible to stably maintain the stored state of the shaft unit 3.

[0088] That is, the fixing portion 46 may be configured to be able to connect a part of the first shaft 9 of the shaft unit 3 and a part of the second shaft 10 or the connecting portion 11 of the adjacent shaft unit 3.

[0089] <5. Summary> As described with reference to each figure, the multicopter 1 (1A) includes a plurality of shaft units 3 having a first shaft 9 to which the propeller 6 is attached, a second shaft 10 connected to the main body portion 2, and a connecting portion 11 that connects the first shaft 9 and the second shaft 10. The first shaft 9 has a first engaging portion 16 that engages with the connecting portion 11. The connecting portion 11 has a second engaging portion (sliding groove 28) that engages with the first engaging portion 16, and is movable between a first position (see FIG. 2) where the first engaging portion 16 and the second engaging portion are engaged and rotation of the first shaft 9 with respect to the connecting portion 11 is disabled, and a second position (see FIG. 10) where the first engaging portion 16 and the second engaging portion are not engaged and the rotation is enabled. Furthermore, the first shaft 9 is capable of rotating about a second axis (axis X3) inclined with respect to a first axis (axis X4) that is the rotation axis of the propeller 6 in a state where the first engaging portion 16 and the second engaging portion are not engaged. For example, by rotating about a second axis inclined with respect to the first axis that is a vertical axis, the height of the tip portion (for example, the portion where the propeller 6 is attached) when the first shaft 9 of a certain shaft unit 3 is folded is different from the height of the second shaft 10 of the adjacent shaft unit 3. Thereby, since the shaft unit 3 can be folded while avoiding interference with the adjacent shaft unit 3, further miniaturization of the multicopter 1 (1A) during folding can be achieved. Accordingly, the portability of the multicopter 1 (1A) is improved, and it becomes easier to use the multicopter 1 (1A) for various applications.

[0090] Also, in the multicopter 1 (1A), the inclination of the second axis (axis X3) with respect to the first axis (axis X4) may be greater than 0 degrees and less than 45 degrees. Thereby, for example, the vertical positional relationship, that is, the vertical distance, between the tip end when the first shaft 9 in a certain shaft unit 3 is folded and the second shaft 10 of the adjacent shaft unit 3 can be kept at a distance that is not too far apart. Accordingly, further miniaturization of the multicopter 1 (1A) during folding can be achieved.

[0091] Furthermore, the second shaft 10 in the multicopter 1 (1A) has a third engaging portion (linear groove 33) that engages with the first engaging portion 16 when the connecting portion 11 is in the first position and does not engage with the first engaging portion 16 when the connecting portion 11 is in the second position. The first shaft 9 is rotatable about the axis with respect to the second shaft 10 in a state where the first engaging portion 16 and the third engaging portion are not engaged, so that the second axis (axis X3) can be an axis inclined with respect to the first axis (axis X4). Thereby, by simply moving the connecting portion 11 from the first position to the second position, the engagement state between the first engaging portion 16 and the second engaging portion (sliding groove 28) can be released, and the engagement state between the first engaging portion 16 and the third engaging portion can be released. Accordingly, by simply moving the connecting portion 11, both the operation of rotating the first shaft 9 in the circumferential direction of the second shaft 10 and the operation of rotating the first shaft 9 in the circumferential direction of the second axis with respect to the connecting portion 11 can be performed. That is, the multicopter 1 (1A) can be folded with fewer procedures, and the working efficiency can be improved.

[0092] Also, the multicopter 1 (1A) may be provided with a restricting portion (rotating restricting protrusion 29 and rotating restricting hole 35) that restricts the rotation of the first shaft 9 around the axis with respect to the second shaft 10 to a predetermined angle (for example, 12 degrees) or less. Thereby, an operation of rotating the first shaft 9 around the axis can be easily performed, and the work efficiency can be improved.

[0093] Furthermore, the tip of the first shaft 9 in the multicopter 1 (1A) may be positioned at a storage position (see FIG. 15) that is aligned in the axial direction of the first axis (axis X4) with the connecting portion 11 of the adjacent shaft unit 3 by rotation of the first shaft 9 around the axis of the second axis (axis X3). Thereby, it becomes possible to fold the multicopter 1 (1A) so that no parts are located outside the connecting portion 11 when viewed from above. Therefore, the portability of the multicopter 1 (1A) can be further improved.

[0094] Also, the second shaft 10 in the multicopter 1 (1A) may be connected to the main body portion 2 below the vertical center of the main body portion 2, and the storage position of the tip of the first shaft 9 may be positioned higher than the connecting portion 11. Thereby, the first shaft 9 at the time of folding can be accommodated in the vertical width of the main body portion 2, and the vertical width at the time of folding the multicopter 1 (1A) can be reduced. Therefore, the portability of the multicopter 1 (1A) can be further enhanced. Conversely, the second shaft 10 may be connected to the upper part of the main body portion 2, and the storage position of the tip of the first shaft 9 may be positioned lower than the connecting portion 11. It is also possible to enhance the portability of the multicopter 1 (1A) with such a configuration.

[0095] Furthermore, the multicopter 1 (1A) may have a fixing portion 46 that fixes the positional relationship between the tip of the first shaft 9 located at the storage position and the connecting portion 11 of the adjacent shaft unit 3. As a result, the state in which the first shaft 9 is rotated with respect to the connecting portion 11, that is, the state in which the multicopter 1 (1A) is folded can be fixed, and the multicopter 1 (1A) can be easily carried.

[0096] In addition, the first shaft 9 in the multicopter 1 (1A) is provided with a locking portion 12 that can move between a locked position (biasing position) and an unlocked position (pushed-in position). When the locking portion 12 is in the locked position, the connecting portion 11 is prevented from moving from the first position to the second position. When the locking portion 12 is in the unlocked position, the connecting portion 11 may be allowed to move from the first position to the second position. By moving the locking portion 12 to the locked position, it is possible to prevent the first shaft 9 from rotating in the axial direction during flight of the multicopter 1 (1A), and to prevent the first shaft 9 from rotating around the axis of the second axis (axis X3) with respect to the connecting portion 11. Therefore, the attitude of the multicopter 1 (1A) during flight can be stabilized.

Explanation of Reference Numerals

[0097] 1, 1A Multicopter 2 Body portion 3 Shaft unit 6 Propeller 9 First shaft 9a Base end portion 9b Tip end portion 10 Second shaft 11 Connecting portion 12 Locking portion 16 First engaging portion 28 Sliding groove (second engaging portion) 33 Linear groove (third engaging portion)

Claims

1. A plurality of shaft units, each having a first shaft to which a propeller is attached, a second shaft connected to a main body portion, and a connecting portion connecting the first shaft and the second shaft, wherein the first shaft has a first engaging portion that engages with the connecting portion, the connecting portion, has a second engaging portion that engages with the first engaging portion, is movable between a first position where the first engaging portion and the second engaging portion are engaged and rotation of the first shaft with respect to the connecting portion is disabled, and a second position where the first engaging portion and the second engaging portion are not engaged and rotation is enabled, the first shaft is rotatable about a second axis inclined with respect to a first axis that is the rotation axis of the propeller in a state where the first engaging portion and the second engaging portion are not engaged and the first shaft and the connecting portion are rotated more than in a state where they are located at the first position with respect to the second shaft, a multicopter.

2. The inclination of the second axis with respect to the first axis is greater than 0 degrees and less than 45 degrees, The multicopter according to claim 1.

3. The second shaft has a third engaging portion that engages with the first engaging portion when the connecting portion is located at the first position and does not engage with the first engaging portion when the connecting portion is located at the second position, the first shaft is rotatable in the circumferential direction of the axis with respect to the second shaft in a state where the first engaging portion and the third engaging portion are not engaged, whereby the second axis can be set as an axis inclined with respect to the first axis, The multicopter according to claim 1.

4. A regulating portion that regulates the rotation of the first shaft in the circumferential direction of the axis with respect to the second shaft to a predetermined angle or less is provided, The multicopter according to claim 3.

5. The tip of the first shaft can be located at a storage position aligned in the axial direction of the first axis and the connecting portion of the adjacent shaft unit by rotation of the first shaft in the circumferential direction of the second axis, The multicopter according to claim 1.

6. The second shaft is connected to the main body portion below the vertical center of the main body portion, the storage position is located at a position higher than the connecting portion, The multicopter according to claim 5.

7. It has a fixing part that fixes the positional relationship between the tip part located at the storage position and the connecting part of the adjacent shaft unit. The multicopter according to claim 5.

8. The first shaft includes a locking part that can move between a locked position and an unlocked position. In a state where the locking part is in the locked position, the movement of the connecting part from the first position to the second position is made impossible. In a state where the locking part is in the unlocked position, the movement of the connecting part from the first position to the second position is made possible. The multicopter according to any one of claims 1 to 7.

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