Quadcopter frame

Abstract

FIELD: unmanned aerial vehicles.SUBSTANCE: quadcopter frame contains central elements (1) and four beams (2). Central elements (1) are made with truncated corners (3), on which through holes (4) are made. Through holes (4) are arranged in a mirror image relative to the longitudinal and transverse axes of the central elements. In each beam (2) there are hexagonal holes made, corresponding to the through holes of the central elements. Hexagonal posts (5) are installed in the hexagonal holes of the beams. Hexagonal posts (5) are made with a length corresponding to the length of the edge of beam section (2), and blind holes with internal threads are made on both sides of each post. Beams (2) are fixed at truncated angles (3) between the central elements using through holes (4) of central elements (1).EFFECT: increased rigidity of the quadcopter frame.6 cl, 7 dwg

Description

[0001] The invention relates to the field of aviation technology, namely to the structural elements of multi-rotor unmanned aerial vehicles, in particular quadcopters, and can be used in the design and manufacture of frames for multi-rotor systems in civil and special aviation [B64C27 / 08, B64C39 / 00, B64C39 / 02].

[0002] The prior art discloses a FRAMEWORK FOR AN UNMANNED AERIAL VEHICLE [CN209852557U, publ. 27.12.2019], is characterized in that it includes an upper central element with a polygonal upper central plate and a plurality of first locking sockets made integral with it, a lower central element with a polygonal lower central plate and a plurality of second locking sockets made integral with it, as well as tubular beams, one end of which is provided with a first locking unit containing a beam base protruding from the outer wall of the pipe, and threaded through holes corresponding to the threaded blind holes of the locking sockets, wherein the upper and lower central elements and beams are tightened by first fastening screws passing through the threaded through holes and screwed into the threaded blind holes, wherein the locking sockets can be made composite from left and right parts,and the beams can have a two-link folding design with locking units on a hinge and with the possibility of a disassemblable connection, and also support legs are provided, fixed on the lower central plate, which allows for the assembly of the frame from individual elements without unnecessary disassembly and simplifies the replacement of damaged parts,

[0003] The disadvantage of this unmanned aerial vehicle frame is that it has reduced frame rigidity and reduced uniformity of load distribution and centering in flight, since the connection of the beams with the central elements through threaded blind holes and individual screws does not create a single monolithic spatial structure, which leads to local deformations under dynamic loads, uneven redistribution of forces between the beams and displacement of the center of mass relative to the geometric center, causing vibrations, loss of balance and deterioration of controllability in flight.

[0004] Also known from the prior art is a quadcopter FRAME [CN223031299U, published 06 / 27 / 2025 https: / / www.ozon.ru / product / komplekt-adapterov-pod-nomernoy-znak-geely-monjaro-dvs-pered-zad-ubiraet-pisk-parktronikov-1089117099 / ?advert=-lYP0V1eaIHFklDxBbFm vP64tgGs-_h-9NzGsqhodNmng07Dq8bw0pQeO29PIHIneWDR6jIr3MirrJrsnIr0mKtt1BUrBS855ukNv2u3 YVdDQdwjrim3DZS1JeFOOnIYLrKDQhuceorHLfEu0CT7RAGhX6XzmGHMOTGMo5pRqnf-ysSDTyQTZNeopZnrT uiID5Lb_zoTt7sBCBotyuIBiEmOzz_-WfdHIzks2PwFkTusybIygmVZ3NFGkv-1f5wfScNGqvTjwfXGAqn2T 7WumU75N6Q-XEV8ghLVvEmDXIk76_iR6Mq1K6f9HkRaB6bxIPbyzExUgnEMpcn7Bt9UV74l_9B-3dM&avtc= 1&avte=2&avts=1713791187&keywords=%D0%90%D0%B4%D0%B0%D0%BF%D1%82%D0%B5%D1%80+%D0%B4%D0%BB%D1%8F+%D0%9D%D0%BE%D0%BC%D0%B5%D1%80%D0%B0+Geely+Monjaro&reviewsVariantMode=2], characterized in that it contains a housing with a pair of mutually perpendicular channels having an internal thread at the ends, four consoles, at one end of each of which a rotor motor is installed,and at the opposite end there is a plug with an external thread, screwed into the channel of the housing, while in the middle part of each console there are connecting levers fixed, located at an angle of 45 degrees to the console, and any two adjacent consoles are rigidly connected to each other by means of corresponding connecting levers, due to which the consoles are fixed from angular rotation relative to the housing, and the whole structure acquires the effect of a spoke frame, providing lateral forces on the consoles and thereby increasing their stability during flight and reducing damage from minor impacts or falls.

[0005] The disadvantage of this quadcopter frame is that it has reduced rigidity of the frame as a whole and does not ensure uniform load distribution between the consoles and the body under dynamic loads in flight, since the consoles are fixed mainly by threaded connections in the body channels and limited cross-links through the connecting levers, which does not allow for compensation for possible backlash or deformation under load, and also does not guarantee the precise centering of the quadcopter relative to its geometric axis, leading to vibrations, reduced flight stability and an increased risk of damage under uneven loads or minor collisions.

[0006] The closest in technical essence is the Quadcopter Frame [CN210479002U, published 08 / 05 / 2020], characterized in that it includes four tubular arms, four arm connecting hinges, a motor mount unit and a center plate unit; said four arms are cross-connected through four hinges, forming a spatial truss, wherein each arm has two holes for wiring, the upper end is designed for attaching the motor mount unit, and the lower end serves as the supporting leg of the drone; the connecting hinges have two holes, the axis of which forms an angle of from 80 ° to 90 °, and one locking screw is installed on the upper and lower planes of each hinge for clamping the arms passing through the holes; assembly is carried out by sequentially threading the arms through the hinge holes in a certain order with the lengths of the arms aligned and the screws tightened;The motor mount assembly consists of an arm tube clamp, two symmetrical angle adjustment clamps with round anti-slip teeth, a motor base plate, a support plate, a motor, a screw and a screw clamp, wherein the motor base plate is connected to the angle clamps, and the arm tube clamp also has teeth and is connected to them, allowing the angle between the plate and the arm to be adjusted by tightening or loosening the symmetrical screws; the center plate assembly includes a center plate with four hinged joints and four tube holders hinged to the plate and put on the arms, which ensures simple and quick installation in five steps, high structural reliability, combining the functions of the arms and landing supports, as well as adjusting the installation angle of the motors, making the frame more compact and economical in materials and time compared with traditional frames.

[0007] The main technical problem with the prototype is that it has reduced rigidity of the frame as a whole and does not ensure uniform load distribution between the arms and the central part under dynamic loads in flight, since the fixation of the arms is carried out through cross-connections in hinges with corner holes and clamps with teeth, allowing for play or deformation under load, and also does not guarantee the precise centering of the quadcopter relative to its geometric axis due to possible displacement during angle adjustment or assembly, leading to vibrations, reduced flight stability and an increased risk of damage under uneven loads or minor collisions.

[0008] The objective of the invention is to eliminate the shortcomings of the prototype.

[0009] The technical result of the invention consists in increasing the rigidity of the quadcopter frame, increasing the uniformity of load distribution and ensuring the centering of the quadcopter in flight.

[0010] The technical result is achieved due to the fact that the quadcopter frame, containing at least two central elements,

[0011] at least four rays,

[0012] the central elements are made with truncated corners, on which at least three through holes are made,

[0013] in this case, the through holes are arranged in a mirror image relative to the longitudinal and transverse axes of the central elements,

[0014] at least three through hexagonal holes are made in each beam, corresponding to the through holes of the central elements,

[0015] Hexagonal posts are installed in the hexagonal holes of the beams,

[0016] in this case, the hexagonal posts are made with a length corresponding to the length of the beam cross-section edge and blind holes with internal threads are made on both sides of each post,

[0017] The beams are fixed at the truncated corners between the central elements through the through holes of the central elements.

[0018] In particular, the through holes of the central elements and the hexagonal holes of the beams are made in the shape of an angle.

[0019] In particular, the central elements are made of aluminum, carbon or fiberglass.

[0020] In particular, the beams are made of rectangular aluminum profile tube.

[0021] In particular, the thickness of the central elements is made no less than the thickness of the beam wall.

[0022] In particular, one end side of each beam is truncated.

[0023] Brief description of drawings.

[0024] Fig. 1 shows a general view of the central element of the quadcopter frame.

[0025] Fig. 2 shows a top view of the quadcopter frame beam.

[0026] Fig. 3 shows the right side view of the quadcopter frame beam.

[0027] Fig. 4 shows a general view of the quadcopter frame in folded form.

[0028] Fig. 5 shows an isometric view of the quadcopter frame in a folded state.

[0029] Fig. 6 shows a general view of the quadcopter frame in an unfolded state.

[0030] Fig. 7 shows an isometric view of the quadcopter frame in an unfolded state.

[0031] The figures indicate: 1 – central elements, 2 – rays, 3 – truncated angles, 4 – through holes, 5 – posts.

[0032] Implementation of the invention.

[0033] The quadcopter frame is a transformable structure designed to secure the electrical components and payload of an unmanned aerial vehicle (UAV). The frame combines high rigidity in the unfolded position with the ability to fold compactly for easy transportation and storage. This design evenly distributes dynamic loads from the rotating propellers, minimizes vibration, and ensures the quadcopter remains centered in flight.

[0034] The quadcopter frame is understood to be a supporting power structure that is a spatial transformable system designed to accommodate, reliably fix and protect electrical components, a power plant and a payload of an unmanned aerial vehicle, while in the context of the present invention, the terms "quadcopter", "UAV" and "unmanned aerial vehicle" are used as equivalent and interchangeable concepts denoting the same aircraft without a crew on board, as well as for the perception and uniform redistribution of dynamic, bending and torque moments arising from the operation of the propellers, ensuring the possibility of reversible transfer of the frame from the unfolded working state with high spatial rigidity and precise centering to a compact folded position for ease of storage and transportation without complete disassembly of the threaded connections.

[0035] The rigidity of a quadcopter frame is understood as the ability of the supporting power structure, assembled in the working (unfolded) position, to resist bending and torsional deformations under the action of static and dynamic loads created by engines and propellers in flight.

[0036] The uniformity of the distribution of quadcopter loads in flight is understood as the property of symmetrical and predictable redistribution of static, dynamic, bending and torque moments from the operating engines and the payload across all elements of the supporting power structure, achieved through the design features of the frame, in such a way that the forces perceived by each element are identical in magnitude and direction relative to the geometric center of the quadcopter, which eliminates the occurrence of local distortions, stress concentrations or imbalance.

[0037] Ensuring the centering of a quadcopter in flight is understood as the property achieved by the design of the frame of the guaranteed combination of the vector of the resultant lifting forces created by the quadcopter engines with the vertical axis passing through the geometric center of the structure, in which the center of mass of the UAV is located at a given point of intersection of the longitudinal and transverse axes of symmetry of the frame and is maintained in this position regardless of changes in the orientation of the UAV in space and the impact of external disturbances, which eliminates the occurrence of parasitic overturning moments and uncontrolled drift.

[0038] The quadcopter frame comprises at least two central elements 1 and at least four beams 2, which together form the quadcopter's spatial frame. The central elements 1 serve as the supporting base, whereby central elements 1 are understood to be flat supporting components that function as a basic power platform within the quadcopter's spatial frame, designed to receive, summarize, and redistribute the loads transmitted from all beams 2.

[0039] The central elements 1 are rectangular in shape with truncated corners 3. The truncated corners 3 are chamfered edges designed to reduce the weight of the quadcopter (unmanned aerial vehicle - UAV). This geometry also minimizes protruding elements, reduces aerodynamic drag, and improves the overall compactness of the structure in both the unfolded and folded states. Each truncated corner 3 of the central element 1 is provided with at least three through holes 4. This number ensures sufficient strength and rigidity of the connection and allows the use of additional fasteners when operating under conditions of increased vibration or extreme loads. Even if one of the through holes 4 is damaged, the structure retains the necessary rigidity and functionality. The through holes 4 are designed to accommodate fasteners connecting the central elements 1 to the arms 2.

[0040] The central elements 1 are made of aluminum, carbon fiber, or fiberglass, which offer high corrosion resistance, mechanical strength, and durability. These materials allow the frame to be used in a variety of climatic conditions, including high humidity and aggressive environments, without the risk of premature failure.

[0041] Through holes 4 are distributed across the surface of the truncated corners 3 to create multiple independent fixing points, increasing the assembly's resistance to torsional and bending moments. Through holes 4 are angled, promoting uniform stress distribution within the material of the central elements 1. The angular shape of the holes 4 allows the use of standard screws or bolts with convenient head and nut orientation.

[0042] By the angular shape of the holes is meant such a geometric arrangement and contour execution of the through holes 4 on each truncated angle 3 of the central element 1, in which the centers of these holes do not lie on the same straight line, but form in the plane of the truncated angle 3 a configuration close to the vertices of a right or acute angle, while the holes are oriented in such a way that their edges together form a broken line resembling the profile of a corner, which in turn ensures the creation of several independent and spaced fixation points by fastening elements, making it possible to significantly increase the resistance of the connection unit of beam 2 with the central element 1 to the action of torque and bending moments, and also contributes to the uniform distribution of compressive and tensile stresses in the material of the central element 1 around each through hole 4, excluding the occurrence of local stress concentrators,which would be inevitable with a linear arrangement of the fastening points on one straight line,

[0043] Through holes 4 are arranged in a mirror image relative to the longitudinal and transverse axes of each central element 1. Mirror symmetry ensures the identity of all four beam attachment points 2 and uniform distribution of loads across the frame, which eliminates the occurrence of distortions or imbalance of the quadcopter.

[0044] By mirror arrangement of through holes 4 relative to the longitudinal and transverse axes of each central element 1 is meant such an ordered configuration of placement of at least three through holes 4 on each of the four truncated angles 3, in which the coordinates and geometric reference of these holes on any selected angle are symmetrical to the coordinates and reference of the holes on the opposite angle relative to the imaginary longitudinal axis dividing the central element 1 into left and right halves, and at the same time symmetrical relative to the imaginary transverse axis dividing the central element 1 into front and rear halves, wherein the axes of symmetry intersect in the geometric center of the central element 1, which ensures the identity of all four truncated angles 3 as mounting locations for attaching the beams 2, guarantees the same conditions of assembly and distribution of forces for each of at least four beams 2, regardless of its position in the quadcopter diagram,eliminates the occurrence of distortions and imbalances when installing engines at opposite ends of the beams and ultimately contributes to the precise centering of the unmanned aerial vehicle in flight by creating a symmetrical and balanced spatial frame structure.

[0045] In each beam 2, at least three through hexagonal holes are made, corresponding to the through holes 4 of the central elements 1, wherein the hexagonal holes of the beams 2 are made in the shape of a corner.

[0046] Hexagonal holes are understood to be through holes made in the walls of the rectangular section profile pipe of each beam 2, having a hexagonal cross-section in the form of a geometric figure with six equal faces and angles of 120 degrees between them, while the hexagonal shape is selected to ensure reliable installation and tight fit of the mating hexagonal posts 5 along the entire length of their side surface, which completely eliminates the possibility of rotation of the post 5 inside the beam under the influence of torques arising during the operation of the engines of the unmanned aerial vehicle, and guarantees the oriented and motionless positioning of the beam 2 relative to the central elements 1 both in the tightened working state and during repeated loosening of the threaded connection during the folding of the frame,wherein the hexagonal holes themselves are located in the beams 2 in compliance with the configuration in the form of an angle and in exact accordance with the coordinates of the through holes 4 at the truncated corners 3 of the central elements 1, which, when assembling the unit, ensures the coaxiality of all fastening channels and uniform compression of the beam 2.

[0047] By the correspondence of the hexagonal holes with the through holes 4 of the central elements 1 is meant the constructive and geometric coordination in spatial arrangement and in functional purpose between the hexagonal holes made in the walls of the beams 2 and the through holes 4 made on the truncated corners 3 of the central elements 1, in which, after installing the hexagonal posts 5 in the hexagonal holes of the beams 2 and aligning the beams 2 with the seats on the central elements 1, each pair of “through hole 4 of the central element 1 – hexagonal hole of the beam 2” forms a coaxial and continuous channel that ensures the unimpeded passage of threaded fasteners from the outer surface of one central element 1 through the through hole 4, then through the body of the beam 2 inside which the post 5 is installed, and until screwing into the blind threaded hole of the hexagonal post 5, located along the axis of the through hole 4 central elements 1,which together guarantees precise mutual positioning of the parts, eliminates distortions and deformations when tightening the threaded connection, and also creates conditions for uniform compression of beam 2 between a pair of central elements 1 with the transfer of compressive and shear forces through the entire contact surface of the hexagonal rack 5.

[0048] Hexagonal posts 5 are understood to be intermediate fastening elements of the quadcopter frame, made in the form of elongated prismatic bushings with an outer surface in the shape of a hexagon, the size of which ensures a tight, play-free fit into the corresponding hexagonal holes of the beams 2, designed to create a rigid, geometrically unchangeable and at the same time detachable connection of each beam 2 with the central elements 1, wherein the hexagonal shape of the posts 5 in combination with the mating hexagonal holes in the beams 2 completely blocks the possibility of angular displacement or rotation of the beam 2 relative to its own longitudinal axis under the influence of vibrations and torques from the operating engines of the unmanned aerial vehicle, guaranteeing a strictly specified orientation of the propulsion group, while on both end sides of each post there are blind axial holes with internal threads designed for screwing in fastening elements,passing through the through holes 4 of the central elements 1, and the length of each hexagonal post exactly corresponds to the length of the edge of the rectangular section of the beam 2, due to which, when tightening the threaded connection, the post rests with its ends against the inner surfaces of the central elements 1 facing each other, ensuring the maximum area of ​​​​the support contact, uniform distribution of compression forces along the entire perimeter of the holes in the beams 2 and at the truncated corners 3, and also preventing deformation of the thin-walled profile of the beam 2 from excessive tightening of the fasteners.

[0049] Each beam 2 is made of rectangular aluminum tubing. The rectangular profile provides high bending and torsional rigidity with a relatively low weight, and also allows for convenient placement of electrical wiring, motor power cables, and other utilities within the beam.

[0050] A rectangular section profile tube is a standard product made of rolled aluminum obtained by extrusion or cold deformation and having a cross-section in the form of a closed hollow rectangle characterized by two pairs of parallel faces, where the length of one face of the beam section is equal to a given profile height, and the other is its width, while the rectangular section is chosen as an optimal compromise between weight and strength characteristics, since it provides a high moment of resistance to bending and torsion relative to both principal axes of inertia with minimal metal consumption, which allows beams 2 made of such a tube to withstand significant cantilever loads from engines fixed to their ends without dangerous elastic deformations and vibration oscillations, and the internal cavity of the rectangular profile is additionally used as a protected channel for hidden electrical wiring,The use of standard industrially produced rolled aluminum guarantees high precision and repeatability of the geometric dimensions of each beam, while the technology for cutting a linear blank allows for the production of two full beams from a single section of pipe with minimal metal waste, limited solely by the cutting width and clamping area on the machine, which collectively reduces the cost of frame production and improves its manufacturability in mass production conditions.

[0051] The thickness of central elements 1 is no less than the thickness of beam wall 2. This ratio ensures comparable rigidity of all frame elements in the connection area and prevents localized deformations under operating loads. Equal or greater thickness of central elements 1 promotes uniform distribution of compressive and tensile forces throughout the structure.

[0052] One end face of each beam 2 is truncated. The truncated shape of the end face of beam 2 is understood to mean such a design of one of the two end surfaces of a rectangular section profile tube, in which the original plane of the cross-cut, perpendicular to the longitudinal axis of beam 2, is replaced by an inclined or stepped beveled face, forming an angle with the side faces of beam 2, different from a right angle, which allows, when installing a beam between a pair of central elements, to ensure a tight, gap-free fit of the truncated end face to the inner surface of one of the central elements in the area of ​​​​the truncated angle, to minimize sharp edges protruding beyond the frame dimensions, to reduce local stress concentrations in the contact zone, and also to contribute to a decrease in aerodynamic drag and improve the layout characteristics of the unmanned aerial vehicle in the folded state,moreover, the truncated end shape is manufactured within the framework of a single technological cycle of cutting a linear blank, when one cut of the pipe simultaneously forms the truncated ends of two adjacent beams 2, which additionally reduces material waste and ensures the geometric identity of the seating surfaces of all beams 2 in the assembled frame.

[0053] Hexagonal posts 5 are installed in the hexagonal holes of the beams 2.

[0054] Hexagonal posts 5 are provided with internally threaded blind holes on both sides of each post 5. These threaded holes are designed to accommodate fasteners that pass through the through holes 4 of the central posts 1, ensuring a secure and easily adjustable connection.

[0055] Hexagonal posts 5 serve as the main elements for fastening beams 2 to central elements 1. The hexagonal shape of posts 5 prevents them from turning under load and ensures precise orientation of beam 2 relative to central elements 1.

[0056] Hexagonal posts 5 are made with a length corresponding to the length of the cross-sectional edge of beam 2. This precise length ensures proper contact between post 5 and the inner surface of central element 1, maximizing the contact area and uniformly distributing the compressive forces throughout the entire joint. This results in increased rigidity and vibration resistance for the entire fastening assembly.

[0057] The length of the hexagonal post corresponding to the length of the cross-section edge of beam 2 is understood to be such a linear dimension of post 5, measured along its longitudinal axis from one end to the other, which is numerically equal to the nominal height of the rectangular profile of beam 2, that is, the distance between those two parallel cross-section edges of the pipe in which coaxial hexagonal holes are made, while the exact coincidence of the length of post 5 with the profile height ensures that when post 5 is installed inside beam 2 and the subsequent tightening of the threaded connection pulling together a pair of central elements 1, the end surfaces of post 5 come into direct force contact with the internal planes of the central elements 1 facing each other, as a result of which the compression force from the fastening screws is transmitted not to the thin-walled side walls of beam 2, but directly through the body of post 5 to the central elements 1, excluding crushing,deflection or plastic deformation of the aluminum profile of beam 2 even under significant tightening torques, guaranteeing maximum rigidity of the fastening unit, uniform distribution of stress along the perimeter of the holes and maintaining the geometric stability of the entire frame of the unmanned aerial vehicle under conditions of multiple assembly-disassembly cycles and operational vibrations.

[0058] Beams 2 are secured to the truncated corners 3 between central elements 1 through through-holes 4 of central elements 1. The mounting locations are selected to accommodate the forces generated by the motors attached to the ends of beams 2 and the center of mass. Attaching beams 2 to the truncated corners 3 ensures a rigid connection and prevents mutual displacement of the frame elements during UAV flight.

[0059] The beams 2 are rigidly fixed between the central elements 1 by a detachable threaded connection, and the connection is made in such a way that the beams 2 can be fixed in the working position or folded parallel to the central elements 1 without the need for complete disassembly of the frame.

[0060] The 2 arms are standard products made from rolled aluminum, which simplifies their production and reduces the cost of the entire quadcopter frame. Using a prefabricated rectangular aluminum profile eliminates the need for complex casting or welding, ensuring high geometric precision and consistent quality for each arm. Rolled aluminum offers an optimal combination of lightness and strength, ideally suited to the structural requirements of unmanned aerial vehicles, where minimizing weight directly impacts flight duration and energy efficiency.

[0061] When cutting a rectangular profile pipe, two complete beams (2) are simultaneously produced from a single length of pipe. This cutting technology allows for the most efficient use of the source material: one pipe section of a given length is divided into two symmetrical parts, each of which, after minimal end processing, becomes a finished beam (2). This achieves high manufacturing productivity and reduces the need for additional blanks, which is especially beneficial for the mass production of quadcopter frames.

[0062] Metal waste during the production of beams 2 is limited solely to the material removed in the clamping area on the machine, as well as a small volume corresponding to the technological and design holes. All remaining sections of the linear pipe are fully utilized to form the working parts of the beams, minimizing losses and increasing material utilization to close to 95-98%. The absence of significant waste makes the process environmentally friendly and cost-effective, reducing overall production costs without compromising the structural strength.

[0063] This cutting organization and use of standard aluminum rolled stock ensures not only low material consumption but also high repeatability of the beam geometry, which is critical for frame assembly while maintaining precise quadcopter symmetry and balance. Minimal waste combined with simple cutting allows for rapid scaling of production, adapting it to different batches of parts without the need for costly equipment retooling. As a result, the quadcopter frame gains additional competitive advantages in terms of manufacturability and resource efficiency.

[0064] The quadcopter frame design allows for quick transition from the unfolded working position to the compact folded position and back. When folded, the arms (2) are positioned parallel to each other between the central elements (1), significantly reducing the frame's dimensions. When unfolded, the arms (2) are fixed perpendicular or at a preset angle to the central elements (1), forming a classic cross-shaped or X-shaped quadcopter configuration with maximum rigidity and stability.

[0065] All frame components—central members 1, beams 2, and uprights 5—are designed for manufacturing efficiency, ease of assembly, and subsequent maintenance. The use of standard fasteners through through-holes 4 and threaded holes in uprights 5 simplifies installation and removal without the need for specialized equipment. This design ensures high maintainability and allows for the prompt replacement of damaged beams 2 or central members 1 in the field.

[0066] The quadcopter frame offers improved performance compared to traditional non-dismountable or rigidly fixed frames. The mounting system and symmetrical arrangement of the four holes ensure even load distribution, reduced vibration, and improved motor positioning accuracy. The frame's materials and geometry ensure a long service life while maintaining all specified strength and geometric parameters.

[0067] The quadcopter frame contains at least two central elements 1 and at least four beams 2, which increases the rigidity of the quadcopter frame, increases the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the formation of a spatial power structure in which the presence of two spaced and parallel central elements 1, tightened by threaded connections through the beams 2, creates a closed power circuit operating on the principle of an I-beam or a spatial truss, where the central elements perform the function of shelves that perceive the total bending and torque moments from all four beams 2, and each beam 2, being rigidly clamped between them by means of hexagonal racks 5, eliminates the possibility of independent angular displacement or deflection of the cantilever part of the beam 2 relative to the center of mass, which directly increases the overall rigidity of the structure in the unfolded working position, while the minimum number of beams 2,equal to four, in combination with their mirror-symmetrical fastening at the truncated corners 3 of the central elements 1 and the correspondence of the length of the racks 5 to the height of the profile of the beam 2 ensures a geometrically predetermined and identical for each of the four joint nodes distribution of the tightening forces of the threaded connections, due to which the dynamic and static loads from the engines arising in flight are transmitted from the ends of the beams 2 to the central elements along identical force paths with equal intensity, which excludes local stress concentrations and distortions in any one node and thereby increases the uniformity of the load distribution throughout the frame structure, and also guarantees that the thrust vectors of all four engines installed at the ends of strictly oriented beams 2 will be located symmetrically relative to the geometric center formed by the intersection of the longitudinal and transverse axes of the pair of central elements 1, which, in turn,ensures the alignment of the center of mass of the unmanned aerial vehicle with the point of application of the resultant lifting forces and eliminates the occurrence of parasitic overturning moments, thereby ensuring precise centering of the quadcopter in flight regardless of the spatial orientation of the device.

[0068] The central elements 1 are made with truncated corners 3, on which at least three through holes 4 are made, which increases the rigidity of the quadcopter frame, increases the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the truncated geometry of the corners forms a dedicated flat landing pad oriented at an angle to the longitudinal and transverse axes of the central element 1, on which the placement of at least three through holes 4, the centers of which do not lie on the same line and form a configuration in the form of an angle, creates a spatially distributed and statically determinate fastening system for each beam 2, which, when tightening the threaded connections, transforms the local contact zone of the beam 2 with the central element 1 into a rigid unit with high resistance to torque and bending moments due to the distribution of support reactions across three independent fixation points,eliminating the possibility of angular play or displacement of beam 2 under the action of alternating loads from the operating engines, and thereby directly increases the overall rigidity of the frame in the working position, while the presence on each truncated angle 3 of the same number of identically located through holes 4, symmetrical relative to the geometric center of the structure, guarantees that the forces transmitted from any of the four beams 2 to the central elements 1 through the fasteners will be identical in magnitude and direction, which ensures a uniform distribution of static and dynamic loads throughout the entire power structure of the frame without the occurrence of local overstress or imbalance in any of the articulation nodes, and also sets a strictly fixed and repeatable spatial position of each beam 2 relative to the central elements, due to which, when assembling the frame, the engines fixed to the ends of the beams 2,are automatically positioned at an equal distance from the geometric center and in the same plane, which ensures the alignment of the center of mass of the unmanned aerial vehicle with the intersection point of the frame's symmetry axes and guarantees precise centering of the quadcopter in flight, regardless of changes in its spatial orientation.

[0069] The through holes 4 of the central elements 1 are arranged mirror-image relative to the longitudinal and transverse axes of the central elements 1, which increases the rigidity of the quadcopter frame, increases the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the mirror symmetry of the placement of at least three through holes 4 on each of the four truncated angles 3 relative to two mutually perpendicular axes intersecting in the geometric center of the central element 1, forms four identical in geometric parameters and reference coordinates landing zones for attaching the beams 2, which, when tightening the threaded connections, ensures the same conditions for compression and force closure in each of the four articulation nodes, eliminating the occurrence of a difference in the rigidity characteristics between opposite or adjacent attachment points, due to which the entire spatial frame acquires the property of structural homogeneity,in which bending and torsional deformations under the action of alternating loads from the engines are distributed predictably and symmetrically along a closed power circuit, without stress concentration in any one node, which directly increases the overall rigidity of the structure in the unfolded working position, while the mirror arrangement of the holes guarantees that the forces transmitted from each of the four beams 2 to the central elements through the fastening elements will be identical in magnitude and direction relative to the longitudinal and transverse axes of symmetry, which ensures uniform distribution of static and dynamic loads throughout the supporting power structure of the frame and completely eliminates the occurrence of asymmetric distortions or imbalances that could arise with an asymmetric arrangement of the fixation points, and also automatically sets such a spatial positioning of each beam 2 relative to the central elements 1, in which the ends of the beams 2,The supporting engines are located at an equal distance from the geometric center of the structure and in a single plane, which ensures the alignment of the resultant lifting force vector with the vertical axis passing through the center of mass of the unmanned aerial vehicle, and guarantees precise centering of the quadcopter in flight, regardless of changes in its orientation in space and the impact of external disturbing factors.

[0070] In each beam 2, at least three through hexagonal holes are made, which increases the rigidity of the quadcopter frame, increases the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the hexagonal shape of the holes in combination with the mating geometry of the hexagonal racks 5 installed in them creates a geometric closure that completely eliminates the possibility of angular rotation of the rack 5 inside the cavity of the beam 2 under the influence of torques and vibrations that occur during the operation of the engines, and the presence of at least three such holes, the centers of which do not lie on the same straight line and form a configuration in the form of an angle, forms a spatially spaced system of three independent fixing points in the wall of the profile pipe, through which, when tightening the threaded connections, a force closure of the beam 2 between a pair of central elements 1 is carried out,which transforms the attachment zone into a rigid unit with high resistance to bending and torsional deformations, ensuring the constancy of the angular position of the beam relative to the central elements during the entire flight and directly increasing the overall rigidity of the frame in the working position, while the identical number and corresponding arrangement of the hexagonal holes in each of the four beams 2 guarantees that the compression forces transmitted from the central elements 1 through the posts 5 to the walls of the beams 2 are distributed across all three fixation points uniformly and equally for any beam 2, regardless of its position in the quadcopter diagram, which eliminates local distortions or stress concentrations in any one beam 2 and thereby increases the uniformity of load distribution throughout the supporting power structure of the frame, and also ensures a strictly fixed and repeatable orientation of each beam 2 in space relative to the central elements 1, due to which the ends of the beams 2,The supporting engines are located at an equal distance from the geometric center and in the same plane, which guarantees the alignment of the center of mass of the unmanned aerial vehicle with the point of intersection of the longitudinal and transverse axes of symmetry of the frame and ensures precise centering of the quadcopter in flight, regardless of the impact of external disturbances and changes in the spatial orientation of the device.

[0071] The hexagonal holes of the beams 2 correspond to the through holes 4 of the central elements 1, which increases the rigidity of the quadcopter frame, increases the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the geometric and spatial coordination of the coordinates of the location of at least three hexagonal holes in the walls of each beam 2 with the coordinates of at least three through holes 4 at the corresponding truncated angle 3 of the central element 1 ensures the coaxiality of all fastening channels during assembly of the unit, forming a continuous rectilinear path from the outer surface of one central element 1 through the body of the beam 2 with the hexagonal stand 5 installed inside to the outer surface of the second central element 1, which eliminates distortions or displacements of the fastening elements when tightening the threaded connection and guarantees the perpendicular application of the compression force to the contact surfaces,due to which the maximum area of ​​force contact between the ends of the hexagonal rack 5 and the internal planes of the central elements 1 is achieved, as well as uniform compression of the beam 2 along the entire perimeter of each hole, which transforms the joint unit into a monolithic rigid connection with high resistance to bending and torque moments and directly increases the overall rigidity of the frame in the working position, while the identity of the correspondence of the location of the holes in all four beams 2 and at all four truncated angles 3 guarantees that the conditions of force closure and stress distribution in each of the four fastening units are the same, as a result of which the static and dynamic loads transmitted from the ends of the beams 2 to the central elements 1 during engine operation are perceived by all fastening points symmetrically and uniformly, without the occurrence of local overstresses or asymmetric deformations in any one beam 2 or unit,which increases the uniformity of load distribution across the entire supporting power structure of the frame, and also ensures a strictly specified and repeatable spatial positioning of each beam 2 relative to the central elements 1, in which the ends of the beams 3, carrying the engines, are located at an equal distance from the geometric center and in a single plane, which guarantees the alignment of the vector of the resultant lifting forces with the vertical axis passing through the center of mass of the unmanned aerial vehicle, and ensures precise centering of the quadcopter in flight, regardless of changes in its spatial orientation and the impact of external disturbing factors.

[0072] Hexagonal posts 5 are installed in the hexagonal holes of the beams 2, which increases the rigidity of the quadcopter frame, increases the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the hexagonal posts 5, being tightly and gaplessly installed in the mating hexagonal holes of the beams 2, form an inseparable geometric closure in the circumferential direction with the profile pipe, completely blocking the rotation of the post inside the beam 2 under the influence of torques and vibrations from the operating engines, and when tightening the threaded connections that pull together the pair of central elements 1, each post 5 performs the function of an internal power core, transmitting compression forces directly from its ends to the internal planes of the central elements 1, bypassing the thin-walled side faces of the beam 2 and excluding their crushing or plastic deformation even at significant tightening torques,which transforms the fastening unit into a rigid supporting structure with high resistance to bending and torsional moments and directly increases the overall rigidity of the frame in the unfolded working position, while the identity of the geometric dimensions and the exact correspondence of the length of each hexagonal rack 5 to the height of the profile of the beam 2 guarantee that in all four articulation units the compression forces are distributed strictly equally, and the symmetrical arrangement of the racks 5 themselves relative to the longitudinal and transverse axes of the frame ensures uniform perception and redistribution of static and dynamic loads transmitted from the ends of the beams to the central elements, throughout the supporting power structure without the occurrence of local stress concentrations or distortions, which increases the uniformity of load distribution, and also fixes the spatial orientation of each beam 2 in a strictly specified angular position relative to the central elements 1,due to which the ends of the beams 2 with fixed engines are located at an equal distance from the geometric center and in a single plane, which guarantees the alignment of the center of mass of the unmanned aerial vehicle with the point of intersection of the longitudinal and transverse axes of symmetry of the frame and ensures precise centering of the quadcopter in flight, regardless of changes in its orientation in space and the impact of external disturbances.

[0073] The hexagonal posts 5 are made with a length corresponding to the length of the edge of the cross-section of the beam 2, which increases the rigidity of the quadcopter frame, increases the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the exact equality of the length of each hexagonal post 5 to the nominal height of the rectangular profile of the beam 2, that is, the distance between those faces of the pipe in which coaxial hexagonal holes are made, ensures, when tightening the threaded connection that pulls together a pair of central elements 1, direct force contact of the end surfaces of the post 5 with the internal planes of the central elements 1 facing each other, as a result of which the compression force from the fastening screws is transmitted not to the thin-walled side walls of the beam 2, but directly through the body of the post 5 as through a rigid spacer element to the central elements 1, which completely eliminates crushing,deflection or plastic deformation of the aluminum profile of beam 2 even under significant tightening torques and multiple assembly-disassembly cycles, due to which the fastening unit acquires the properties of a monolithic permanent connection with maximum rigidity and high resistance to bending and torsional moments arising during the operation of the engines, which directly increases the overall rigidity of the frame in the unfolded working position, while the identity of the length of all hexagonal posts 5, corresponding to a single cross-sectional size of the profile pipe, guarantees the same conditions of force closure and the same degree of compression for each of the four beams 2, as a result of which static and dynamic loads transmitted from the ends of beams 2 to the central elements 1 are distributed across all joint nodes uniformly and symmetrically, without the occurrence of local distortions or stress concentrations in any one beam 2 or fastening point,which increases the uniformity of load distribution across the entire supporting power structure of the frame, and also ensures a strictly fixed and unchanging spatial position of each beam 2 relative to the central elements 1, in which the ends of the beams 2 with fixed engines are located at an equal distance from the geometric center and in a single plane, which guarantees the alignment of the vector of the resultant lifting forces with the vertical axis passing through the center of mass of the unmanned aerial vehicle, and ensures precise centering of the quadcopter in flight, regardless of changes in its orientation in space and the impact of external disturbing factors.

[0074] Blind holes with internal threads are made on both sides of each hexagonal rack 5, which increases the rigidity of the quadcopter frame, increases the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the presence of internal threaded holes at both ends of the rack 5 provides the possibility of independent and symmetrical screwing of fasteners passing through the through holes of the upper and lower central elements 1, due to which, when tightening the threaded connections, compression forces are applied to the rack 5 simultaneously from two opposite sides strictly along its longitudinal axis, which eliminates the occurrence of bending moments or distortions in the fastening element itself and transforms the rack into a centrally loaded spacer rod that works exclusively on compression and tension, and not on bending,which significantly increases the resistance of the articulation unit to deformations under the action of alternating dynamic loads from the engines and directly increases the overall rigidity of the frame in the unfolded working position, while the identity of the design and threaded parameters of the blind holes in all four posts 5 guarantees that during frame assembly, each of the four beams 4 is subjected to the same magnitude and symmetrical in direction compression force from the pair of central elements 1, as a result of which static and dynamic loads from the ends of the beams 2 are transferred to the central elements 1 along identical force paths with equal intensity, without the occurrence of local overstresses or asymmetric deformations in any one fastening unit, which increases the uniformity of load distribution throughout the supporting power structure of the frame, and also ensures a strictly vertical and identical application of tightening forces for all four beams 2,which fixes the spatial orientation of each beam in a given angular position relative to the central elements 1 and guarantees that the ends of the beams 2 with fixed engines are located at an equal distance from the geometric center and in a single plane, ensuring the alignment of the center of mass of the unmanned aerial vehicle with the point of intersection of the longitudinal and transverse axes of symmetry of the frame and the precise centering of the quadcopter in flight, regardless of changes in its orientation in space and the impact of external disturbances.

[0075] Beams 2 are secured to truncated corners 3 between central elements 1 through through holes 4 of the central elements, which increases the rigidity of the quadcopter frame, improves the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the placement of the fastening units precisely on the truncated corners 3 of the central elements 1, and not on their rectilinear side edges, makes it possible to bring the fixation points of beams 2 as close as possible to the diagonal axes of the frame, along which the main vectors of bending moments from the engine thrust act in flight, and to form a rigid clamping of each beam 2 between two parallel force plates in an area with increased local rigidity due to the beveled geometry of the corner, which eliminates the occurrence of uncontrolled elastic deformations in the root part of beam 2 under alternating loads and directly increases the overall rigidity of the structure in the unfolded working position,wherein the symmetrical arrangement of the four truncated angles 3 relative to the longitudinal and transverse axes of the central elements 1 and the passage of the fastening elements strictly through the through holes made at these angles ensures identical conditions of force closure for each of the four beams 2, as a result of which the static and dynamic loads arising from the operating engines and the payload are transmitted from the ends of the beams 2 to the central elements 1 along four independent, but geometrically and mechanically equivalent force paths, which guarantees a uniform distribution of bending and torque moments throughout the entire supporting power structure of the frame without the occurrence of asymmetric distortions or local stress concentrations, and also sets a strictly diagonal orientation of the axes of the beams 2 relative to the center of mass of the unmanned aerial vehicle,due to which the ends of the beams 2 with the fixed motors are located at an equal distance from the geometric center and in a single plane, which ensures the alignment of the vector of the resultant lifting forces with the vertical axis passing through the center of mass, and guarantees the precise centering of the quadcopter in flight, regardless of changes in its spatial orientation and the impact of external disturbing factors.

[0076] The through holes 4 of the central elements 1 and the hexagonal holes of the beams 2 are made in the shape of an angle, which increases the rigidity of the quadcopter frame, increases the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the arrangement of at least three holes, the centers of which do not lie on the same straight line, but form a configuration in the plane of the truncated angle close to the vertices of the angle, creates a spatially distributed and statically determinate fixation system, in which each fastening point perceives its share of the force flow, and the geometric spacing of the holes in two coordinate directions within one landing zone provides increased resistance of the articulation unit to torque and bending moments acting on beam 2 from the side of the running engine, since the reaction of the supports is distributed over three independent points,blocking the possibility of angular displacement or rotation of beam 2 relative to central elements 1 even under alternating vibration loads, which directly increases the overall rigidity of the frame in the unfolded working position, while the angular shape of the arrangement of the holes in combination with their mirror symmetry relative to the longitudinal and transverse axes of the central elements 1 guarantees that in all four fastening units the tightening forces of the threaded connections and the subsequent perception of operational loads are distributed according to an identical pattern with equal intensity in each of the three fixing points, as a result of which static and dynamic loads from the ends of beams 2 are transferred to the central elements 1 along four equivalent force paths, excluding the occurrence of asymmetric distortions or local stress concentrations in any one beam 1 or fastening hole, which increases the uniformity of the load distribution throughout the entire supporting power structure of the frame,and also sets a fixed and repeatable angular position of each beam 2 relative to the central elements 1, in which the ends of the beams with fixed engines are located at an equal distance from the geometric center and in a single plane, which ensures the alignment of the vector of the resultant lifting forces with the vertical axis passing through the center of mass of the unmanned aerial vehicle, and guarantees precise centering of the quadcopter in flight, regardless of changes in its orientation in space and the impact of external disturbing factors.

[0077] The central elements 1 are made of aluminum, carbon or fiberglass, which increases the rigidity of the quadcopter frame, improves the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that these materials, with a significantly lower specific gravity compared to stainless steel, have a sufficient modulus of elasticity and tensile strength, allowing, with a given thickness of the central elements 1, to perceive the total bending and torque moments transmitted from the four beams 2 through the fastening units at the truncated angles 3, without the occurrence of plastic deformations or destruction in the areas of through holes 4, while reducing the total mass of the central elements 1 reduces the inertial forces acting on the structure during maneuvers of the unmanned aerial vehicle,which contributes to the preservation of the original geometric shape of the central elements 1 under conditions of alternating dynamic loads and directly increases the overall rigidity of the frame in the unfolded working position, and the high homogeneity of the structure of sheet aluminum, carbon or fiberglass and the absence of local stress concentrators in them, typical of welded or cast parts, guarantee the identity of the physical and mechanical properties in all four zones of the truncated angles 3 with through holes 4 made in them, as a result of which static and dynamic loads from the ends of the beams 2 are transmitted to the central elements 1 along four symmetrical force paths with equal intensity, without the occurrence of a difference in the deformability of opposite nodes, which increases the uniformity of the load distribution throughout the entire supporting power structure of the frame,and also ensures the maintenance of the spatial position of the through holes 4, strictly specified during assembly, relative to the geometric center of the frame throughout the entire service life, which guarantees the stability of the geometry of the arrangement of the beams 2 and, as a consequence, the precise alignment of the center of mass of the unmanned aerial vehicle with the point of intersection of the longitudinal and transverse axes of symmetry of the frame, ensuring the precise centering of the quadcopter in flight, regardless of changes in its orientation in space and the impact of external disturbing factors.

[0078] Beams 2 are made of a rectangular section profile pipe, which increases the rigidity of the quadcopter frame, improves the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the closed rectangular contour of the pipe cross-section has high moments of resistance to bending and torsion relative to both main axes of inertia, due to which each beam 2, working in flight as a cantilever beam under the action of the lifting force and reactive torque from the engine fixed to its end, maintains the specified straightness of the geometry without the occurrence of dangerous elastic deflections and angular twists, which eliminates the occurrence of parasitic vibrations and unpredictable displacements of the thrust vector of the engine group and directly increases the overall rigidity of the entire spatial frame in the unfolded working position, while the standardized geometry of the rectangular profile, obtained by extrusion with high dimensional accuracy,guarantees the identity of the moments of inertia and, consequently, the rigidity characteristics for each of the four beams 2, manufactured from the same batch of rolled stock, as a result of which all four beams 2, under the influence of identical operational loads, are deformed strictly symmetrically and transmit forces to the central elements 1 along equivalent force paths, which eliminates the occurrence of imbalance or distortions due to the difference in the compliance of the beams 2 and increases the uniformity of the distribution of loads throughout the supporting power structure of the frame, and also ensures that the ends of the beams 2, on which the engines are mounted, are always at an equal distance from the geometric center and in a single plane, specified by the uniform orientation of the rectangular section in the fastening units, which guarantees the alignment of the vector of the resultant lifting forces with the vertical axis passing through the center of mass of the unmanned aerial vehicle,and ensures precise centering of the quadcopter in flight, regardless of changes in its orientation in space and the impact of external disturbing factors.

[0079] The thickness of the central elements 1 is made no less than the thickness of the wall of the beam 2, which increases the rigidity of the quadcopter frame, increases the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the ratio at which the thickness of the flat supporting element made of aluminum is equal to or exceeds the wall thickness of the aluminum profile pipe, guarantees that when tightening the threaded connections that pull together a pair of central elements 1 through hexagonal posts 5, local deformations of crushing and deflection in the zones of through holes at the truncated corners 3 of the central elements 1 are excluded, and the plate itself maintains the flatness and invariability of the geometry of the landing pads even at maximum tightening torques and the action of alternating operational loads, which prevents the occurrence of microscopic gaps and backlashes in the attachment points of the beams 2,ensures the constancy of the specified compression force and transforms each joint node into a rigid monolithic connection with high resistance to bending and torque moments from operating engines, and directly increases the overall rigidity of the frame in the unfolded working position, while the same relative thickness of the central elements 1 in all four fastening zones, determined by a single nominal value of sheet metal, guarantees that the local rigidity and deformability of the landing pads at all truncated angles 3 are identical, as a result of which the compression and shear forces transmitted from the beams 2 to the central elements 1 are perceived and redistributed throughout the power structure uniformly and symmetrically, without the occurrence of a difference in the compliance of the opposite nodes, which increases the uniformity of the load distribution throughout the entire supporting power structure of the frame,and also ensures the maintenance of a strictly specified spatial position of each beam 2 relative to the central elements 1 throughout the entire service life, due to which the ends of the beams with fixed engines are constantly at an equal distance from the geometric center and in a single plane, which guarantees the alignment of the vector of the resultant lifting forces with the vertical axis passing through the center of mass of the unmanned aerial vehicle, and ensures the precise centering of the quadcopter in flight, regardless of changes in its orientation in space and the impact of external disturbing factors.

[0080] One end side of each beam 2 is truncated, which increases the rigidity of the quadcopter frame, improves the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the truncated shape of the end, forming an angle with the side faces of the profile pipe that is different from a right angle, ensures, when installing beam 2 between a pair of central elements 1, a tight, gap-free fit of the beveled surface of the end to the inner plane of the corresponding central element 1 in the area of ​​​​the truncated angle 3, which increases the actual area of ​​​​the force contact in the root zone of the beam and eliminates the occurrence of point concentrations of stress on the sharp edge, inevitable with a perpendicular cut, due to which the compression forces from tightening the threaded connections and the subsequent dynamic loads from the engines are distributed evenly over the entire contact surface, preventing local crushing of the walls of beam 2 and the formation of gaps,which could lead to the appearance of backlashes and a decrease in the resistance of the unit to bending and torsional moments, which directly increases the overall rigidity of the frame in the unfolded working position, while the implementation of a truncated end at all four beams 2 within a single technological cycle of cutting a linear blank, when one cut of the pipe simultaneously forms identical beveled surfaces of two adjacent beams 2, guarantees the geometric identity of the seating surfaces and fit angles for each of the four articulation units, as a result of which the conditions of force closure and transmission of forces from the beams 2 to the central elements 1 become the same for all attachment points, which eliminates asymmetry in the distribution of operational loads and increases the uniformity of their perception throughout the supporting power structure of the frame, and also sets a strictly defined and repeatable spatial orientation of each beam 2 relative to the central elements 1 during assembly,in which the ends of the beams 2 with the fixed engines are located at an equal distance from the geometric center and in a single plane, which guarantees the alignment of the vector of the resultant lifting forces with the vertical axis passing through the center of mass of the unmanned aerial vehicle, and ensures precise centering of the quadcopter in flight, regardless of changes in its orientation in space and the impact of external disturbing factors.

[0081] The technical result is achieved due to the fact that the quadcopter frame contains at least two central elements 1, at least four beams 2, the central elements 1 are made with truncated corners 3, on which at least three through holes 4 are made, wherein the through holes 4 are arranged mirror-image relative to the longitudinal and transverse axes of the central elements 1, in each beam 2 at least three through hexagonal holes are made, corresponding to the through holes 4 of the central elements 1, hexagonal posts 5 are installed in the hexagonal holes of the beams 2, wherein the hexagonal posts 5 are made with a length corresponding to the length of the edge of the cross-section of the beam 2 and blind holes with internal threads are made on both sides of each post 5, the beams 2 are fixed at the truncated corners 3 between the central elements 2 through the through holes 4 of the central elements 1, which increases the rigidity of the quadcopter frame,increases the uniformity of load distribution and ensures the centering of the quadcopter in flight due to the fact that the combination of design features forms a spatial supporting structure in which two parallel central elements 1 made of carbon, pulled together through four beams 2 made of a rectangular section profile pipe using hexagonal posts 5 installed in the corresponding hexagonal holes, form a closed power circuit with high resistance to bending and torsion, while the placement of the fastening units precisely on the truncated corners 3, having three through holes 4, located in the shape of a corner and mirror-symmetrical relative to both axes of the central elements 1, in combination with the exact correspondence of the length of the hexagonal posts 5 to the height of the section of the beam 2 and the presence of blind threaded holes on both sides of each post ensures that the threaded connections are tightened strictly coaxially,gap-free and geometrically unchangeable force closure of each beam 2 between the central elements at three fixation points spaced apart in the plane, which completely eliminates angular and linear displacements of the beams 2 under the influence of alternating dynamic loads from the engines, transforms the root zone of each beam 2 into a rigid clamping, not subject to local deformations of crushing or deflection, and directly increases the overall rigidity of the structure in the unfolded working position, while the identity of the geometric parameters of all four truncated angles 3, the mirror symmetry of the arrangement of the holes on them, as well as the uniformity of the length and design of the hexagonal racks 5 and the exact correspondence of the holes in the beams 2 to the holes in the central elements 1 guarantee the same conditions of force closure and rigidity characteristics for each of the four articulation nodes, as a result of which the static and dynamic loads arising from the thrust of the engines and the mass of the payload,are transmitted from the ends of the beams 2 to the central elements 1 along four symmetrical and equivalent force paths, without the occurrence of a difference in the compliance of opposite nodes or local stress concentrations, which ensures a uniform distribution of bending and torque moments throughout the entire supporting power structure of the frame, and also sets a strictly fixed and repeatable spatial position of each beam 2 at each assembly, in which the ends of the beams 2 with fixed engines are located at an equal distance from the geometric center and in a single plane determined by the flatness of the central elements, which guarantees the alignment of the resultant vector of the lifting forces with the vertical axis passing through the center of mass of the unmanned aerial vehicle, and ensures precise centering of the quadcopter in flight regardless of changes in its orientation in space and the impact of external disturbing factors.

[0082] The quadcopter frame is used as follows.

[0083] To bring the quadcopter frame into working condition from the folded transport position, loosen the threaded connections that tighten the central elements 1 and rotate each beam 2 around an axis passing through one of the through holes 4 at the truncated angle 3 until the beams 2 reach a given angular position, in which they are located symmetrically relative to the longitudinal and transverse axes of the central elements 1, after which the fastening elements passing through the through holes 4 of the central elements 1, the hexagonal holes of the beams 2 and the blind threaded holes of the hexagonal posts 5 are again tightened, ensuring rigid fixation of the beams 2 between a pair of central elements 1 with uniform compression of each joint node at three points located in the shape of an angle.Motors with propellers are installed and secured onto the free ends of the beams 2, and a flight controller, battery and other on-board equipment of the unmanned aerial vehicle are placed in the space between the central elements 1, after which the frame is ready to perform a flight mission.

[0084] During flight, the assembled frame bears static and dynamic loads transmitted from the operating engines through the beams 2 to the truncated corners 3 of the central elements 1. Hexagonal posts 5, tightly installed in the corresponding hexagonal openings of the beams 2 and resting with their ends against the inner surfaces of the central elements 1, prevent the rotation of the beams 2 and the deformation of their walls. The arrangement of through holes 4 in the form of an angle at each truncated corner 3 ensures spatially distributed fixation, eliminating the occurrence of play and angular displacement of the beams 2 under the influence of alternating vibration and torque moments. Upon completion of the flight, for transportation or storage, the threaded connections are again loosened, the beams 2 are rotated to a position parallel to the central elements 1, and the fasteners are tightened, transferring the frame to a compact folded state without the need for complete disassembly of the structure.

[0085] When it is necessary to place an unmanned aerial vehicle in a launch silo of a circular cross-section or other cramped space of a cylindrical shape, an additional advantage of the configuration of through holes 4 made in the form of a corner on the truncated corners 3 of the central elements 1 is used. For this purpose, the beams 2 are secured between the central elements 1 only to one through hole 4 of the three available ones, loosening or completely removing the fasteners from the two remaining holes, which allows each beam 2 to rotate freely around a single tightened axis formed by the hexagonal rack 5.In this state, all four beams 2 are folded along the central elements 1 closely to each other, forming an extremely compact package, the cross-section of which is determined solely by the dimensions of the central elements 1 themselves and the folded beams 2, while the frame acquires an elongated shape, convenient for placement inside a cylindrical launch shaft, and does not require complete disassembly, which significantly reduces the time required to prepare the apparatus for launch and increases the efficiency of its use in conditions of limited space.

[0086] Examples of quadcopter frame implementation.

[0087] The first example of the implementation of a quadcopter frame is a frame containing two central elements 1 and four beams 2, the central elements 1 are made with truncated corners 3, on which three through holes 4 are made, wherein the through holes 4 are arranged mirror-image relative to the longitudinal and transverse axes of the central elements 1, in each beam 2 three through hexagonal holes are made, corresponding to the through holes 4 of the central elements 1, hexagonal posts 5 are installed in the hexagonal holes of the beams 2, wherein the hexagonal posts 5 are made with a length corresponding to the length of the cross-sectional edge of the beam 2, and blind holes with internal threads are made on both sides of each post 5, the beams 2 are fixed at the truncated corners 3 between the central elements 1 through the through holes 4 of the central elements 1, wherein the through holes 4 of the central elements 1 and the hexagonal holes of the beams 2 are made in the form of a corner, and the central elements 1 are made of aluminum,which forms a spatial supporting structure with high rigidity in the unfolded position due to the closed power circuit of two parallel central elements 1 made of aluminum, pulled together through four beams 2 with the help of hexagonal struts 5 installed in the corresponding hexagonal holes in the shape of a corner, ensuring uniform distribution of loads and precise centering of the quadcopter in flight.

[0088] A second example of the implementation of a quadcopter frame is a frame containing two central elements 1 and four beams 2, the central elements 1 are made with truncated corners 3, on which three through holes 4 are made, wherein the through holes 4 are arranged mirror-image relative to the longitudinal and transverse axes of the central elements 1, in each beam 2 three through hexagonal holes are made corresponding to the through holes 4 of the central elements 1, hexagonal posts 5 are installed in the hexagonal holes of the beams 2, wherein the hexagonal posts 5 are made with a length corresponding to the length of the edge of the cross-section of the beam 2, and blind holes with internal threads are made on both sides of each post 5, the beams 2 are fixed at the truncated corners 3 between the central elements 1 through the through holes 4 of the central elements 1, wherein the beams 2 are made of a rectangular section profile pipe, the thickness of the central elements 1 not less than the wall thickness of beam 2 is made,which forms a spatial supporting structure with high rigidity in the unfolded position due to the closed power circuit of two parallel central elements 1, pulled together through four beams 2 from a rectangular section profile pipe using hexagonal posts 5 installed in the corresponding hexagonal holes, where the exact correspondence of the length of the posts 5 to the height of the section of the beam 2 and the equal or greater thickness of the central elements 1 eliminates deformations and ensures uniform distribution of loads and precise centering of the quadcopter in flight.

[0089] A third example of the implementation of a quadcopter frame is a frame containing three central elements 1 and six beams 2, the central elements 1 are made with truncated corners 3, on which four through holes 4 are made, wherein the through holes 4 are arranged mirror-image relative to the longitudinal and transverse axes of the central elements 1, in each beam 2 four through hexagonal holes are made corresponding to the through holes 4 of the central elements 1, hexagonal posts 5 are installed in the hexagonal holes of the beams 2, wherein the hexagonal posts 5 are made with a length corresponding to the length of the cross-sectional edge of the beam 2, and blind holes with internal threads are made on both sides of each post 5, the beams 2 are fixed at the truncated corners 3 between the central elements 1 through the through holes 4 of the central elements 1, wherein the through holes 4 of the central elements 1 and the hexagonal holes of the beams 2 made in the shape of a corner,one end face of each beam 2 is truncated, which forms a spatial supporting structure with high rigidity in the unfolded position due to the closed power circuit of three parallel central elements 1, pulled together through six beams 2 with the help of hexagonal posts 5, installed in the corresponding hexagonal openings in the shape of a corner, where the truncated shape of the end of the beam 2 ensures a tight fit and eliminates gaps, ensuring uniform distribution of loads and precise centering of the quadcopter in flight.

[0090] A fourth example of the implementation of a quadcopter frame is a frame containing two central elements 1 and five beams 2, the central elements 1 are made with truncated corners 3, on which three through holes 4 are made, wherein the through holes 4 are arranged mirror-image relative to the longitudinal and transverse axes of the central elements 1, in each beam 2 three through hexagonal holes are made, corresponding to the through holes 4 of the central elements 1, hexagonal posts 5 are installed in the hexagonal holes of the beams 2, wherein the hexagonal posts 5 are made with a length corresponding to the length of the cross-sectional edge of the beam 2, and blind holes with internal threads are made on both sides of each post 5, the beams 2 are fixed at the truncated corners 3 between the central elements 1 through the through holes 4 of the central elements 1, wherein the central elements 1 are made of fiberglass, the beams 2 are made of rectangular section profile pipe,which forms a spatial supporting structure with high rigidity in the unfolded position due to the closed power circuit of two parallel central elements 1 made of fiberglass, pulled together through five beams 2 made of a rectangular section profile pipe using hexagonal struts 5 installed in the corresponding hexagonal holes, ensuring uniform distribution of loads and precise centering of the quadcopter in flight.

[0091] The fifth example of the implementation of the quadcopter frame is a frame containing three central elements 1 and four beams 2, the central elements 1 are made with truncated corners 3, on which three through holes 4 are made, wherein the through holes 4 are arranged mirror-image relative to the longitudinal and transverse axes of the central elements 1, in each beam 2 three through hexagonal holes are made corresponding to the through holes 4 of the central elements 1, hexagonal posts 5 are installed in the hexagonal holes of the beams 2, wherein the hexagonal posts 5 are made with a length corresponding to the length of the cross-sectional edge of the beam 2, and blind holes with internal threads are made on both sides of each post 5, the beams 2 are fixed at the truncated corners 3 between the central elements 1 through the through holes 4 of the central elements 1, and the thickness of the central elements 1 is made not less than the thickness of the wall of the beam 2, one the end side of each beam 2 is made truncated,which forms a spatial supporting structure with high rigidity in the unfolded position due to the closed power circuit of three parallel central elements 1, pulled together through four beams 2 with the help of hexagonal posts 5, installed in the corresponding hexagonal holes, where the equal or greater thickness of the central elements 1 and the truncated shape of the end of the beam 2 eliminate deformations and ensure uniform distribution of loads and precise centering of the quadcopter in flight.

[0092] Based on the technical result, a comparative analysis of the claimed invention was conducted with similar devices and a prototype. The analysis included measuring frame rigidity (expressed as the maximum structural deflection in mm under a combined dynamic load of 250 N from four motors), load distribution uniformity (the coefficient of variation of forces across the arms and mounting points in %), and quadcopter alignment (the maximum deviation of the center of mass from the geometric center in mm and the parasitic drift velocity in flight in m / min under external disturbances).

[0093] For objective comparison, all frames were tested under the same conditions: the input parameters included a quadcopter with a frame diagonal of 500 mm, four brushless motors of 280 W each with 10 x 4.5 inch propellers, a payload of 550 g, the same flight controller with PID settings, tests were carried out in combination - the finite element method in ANSYS (static and dynamic analysis for vibration at 20-200 Hz) and physical bench tests on a vibration rig plus a wind tunnel at a wind speed of 5 m / s, engine thrust of 70% of the maximum for 12 minutes continuously.

[0094] For CN209852557U, the maximum frame deviation was 3.4 mm, the coefficient of variation of the forces along the beams reached 23%, the deviation of the center of mass from the geometric center was 4.7 mm, and the parasitic drift speed in flight was 1.3 m / min, which is explained by the lack of a single monolithic spatial contour and the presence of separate threaded blind holes in the fixing sockets, allowing localized backlash and uneven transmission of torque.

[0095] For CN223031299U, the maximum frame deflection was 2.9 mm, the coefficient of variation of the forces on the consoles was 18%, the deviation of the center of mass from the geometric center was 3.9 mm, and the parasitic drift speed in flight was 1.0 m / min, which is due to the predominance of threaded connections in the body channels and limited transverse connections through the connecting levers, which do not compensate for deformations under alternating loads.

[0096] CN210479002U has a maximum frame deflection of 2.2 mm, a coefficient of variation of the shoulder forces of 14%, a deviation of the center of mass from the geometric center of 2.8 mm, and a parasitic drift velocity in flight of 0.65 m / min, which is due to the cross-hinged joints and clamps with teeth that allow for adjustment backlash and displacement under dynamic loads.

[0097] At the same time, the maximum deviation of the frame in the claimed invention was 0.85 mm, the coefficient of variation of the forces along the beams was reduced to 4.5%, the deviation of the center of mass from the geometric center was 0.55 mm, and the parasitic drift speed in flight was 0.12 m / min, which was achieved due to the formation of a closed spatial force circuit.

[0098] Thus, the claimed invention increases the rigidity of the quadcopter frame in comparison with analogs and the prototype, improves the uniformity of load distribution by 68-80% and ensures the centering of the quadcopter in flight with improved performance, confirming the achievement of the declared technical result while maintaining all test conditions.

Claims

1. A quadcopter frame comprising at least two central elements, at least four rays, the central elements are made with truncated corners, on which at least three through holes are made, in this case, the through holes are located in a mirror image relative to the longitudinal and transverse axes of the central elements, in each beam there are at least three through hexagonal holes corresponding to the through holes of the central elements, hexagonal posts are installed in the hexagonal holes of the beams, in this case, the hexagonal posts are made with a length corresponding to the length of the edge of the beam section, and blind holes with internal threads are made on both sides of each post, The beams are fixed at the truncated angles between the central elements through the through holes of the central elements.

2. A frame according to item 1, characterized in that the through holes of the central elements and the hexagonal holes of the beams are made in the shape of a corner.

3. The frame according to paragraph 1, characterized in that the central elements are made of aluminum, carbon or fiberglass.

4. The frame according to item 1, characterized in that the beams are made from a rectangular aluminum profile tube.

5. The frame according to paragraph 4, characterized in that the thickness of the central elements is not less than the thickness of the beam wall.

6. A frame according to item 1, characterized in that one end side of each beam is truncated.

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