KR20160051163A - Unmanned flying vehicle - Google Patents

Abstract

According to the present invention, an unmanned flying object is disclosed. According to the present invention, the unmanned flying object comprises: a base unit; a propulsion unit having a first actuator and a propeller which rotates by means of the power of the first actuator, and rotationally installed on the outside of the base unit; a rotation plate rotationally installed on one surface of the base unit; and a connection arm connecting the rotation plate and the propulsion unit.

Description

Unmanned flying vehicle

The present invention relates to an apparatus, and more particularly to an unmanned aerial vehicle.

Unmanned Aerial Vehicle (UAV) is a flight capable of carrying out a designated mission without boarding the pilot. Unmanned aerial vehicles can be remotely controlled or can be based on pre-programmed or automated systems.

Unmanned aircraft can be equipped with vertical takeoff and landing (VTOL) functions by generating both horizontal thrust and vertical thrust. The propeller or rotor can create a thrust force in the vertical direction to lift the air vehicle, and generate thrust in the horizontal direction to provide forward motion. With the vertical takeoff and landing function, the unmanned airplane does not need a slide flight and can facilitate the work.

Unmanned aerial vehicles can be used for military or reconnaissance purposes to collect information by scouting enemies or exploring the terrain. Unmanned aerial vehicles can also perform ground operations on infiltrating terrain in parallel with mobile robots.

Unmanned aerial vehicles can be used for industrial purposes to survey land or to spray pesticides. In addition, the unmanned airplane can be quickly placed into emergency situations based on the location tracking function and can rescue the victims and fallen persons in emergency situations.

Unmanned aerial vehicles are increasing in demand as aviation technology or communication technology develops, and the range of application of unmanned aerial vehicles is gradually increasing. As a result, research on miniaturization and lightweight technology of unmanned aerial vehicles continues.

The unmanned aerial vehicle capable of flying along the general pre-inputted flight path as described above is specifically disclosed in Korean Patent Laid-Open Publication No. 2013-0100566 (title of the invention: unmanned aerial vehicle).

Korean Patent Publication No. 2013-0100566. (Released on September 11, 2013)

Embodiments of the present invention are intended to provide a foldable unmanned aerial vehicle for a propulsion unit that generates thrust.

According to an aspect of the present invention, there is provided a propulsion unit including a base, a propulsion unit having a first actuator and a propeller rotating by the power of the first actuator, the propulsion unit being rotatably installed outside the base unit, And a connection arm for connecting the rotation plate and the propelling unit.

In addition, when the rotation plate rotates, the connection arm can rotate the propulsion unit.

The rotation plate may be disposed at the center of the base.

The connection arm may include a bent portion bent to partially protrude in the longitudinal direction.

In addition, a first hole is formed in one end of the connection arm, the first pin is inserted into the first hole and connected to the rotation plate, and the second hole is provided at the other end of the connection arm, The second pin may be inserted and connected to the pushing portion, and the center axis of the first hole and the center axis of the second hole may be shifted from each other.

Further, when the first hole is away from the pushing portion, the pushing portion can be folded in the base portion.

In addition, the pushing portion may be pivoted in a state in which the pushing portion is folded to the base portion in a state in which the pushing portion is formed to be flush with the base portion.

When the rotation plate is rotated in the first direction, the pushing portion is rotated in a folded state in a state of being spread on the base portion. When the rotation plate is rotated in a direction opposite to the first direction, the pushing portion folds And can be rotated in the unfolded state.

The base unit may further include a supporter unit protruding from the base unit and supporting the base unit.

Further, when the rotation plate rotates, at least a part of the pushing portion can be inserted into the supporter portion.

According to another aspect of the present invention, there is provided a portable electronic device comprising: a base; a plurality of pushing portions provided on respective side surfaces of the base portion and rotatably installed on the base portion; a rotation plate rotatably installed on one surface of the base portion; And a plurality of connecting arms provided to connect the plurality of pushing portions to the plurality of pushing portions. When the rotating plate rotates, the plurality of connecting arms rotate to rotate the plurality of pushing portions simultaneously.

The rotation plate may be disposed at the center of the base.

In addition, the plurality of pushing portions may be folded in a state where the pushing portion is folded on the base portion in a state in which the plurality of pushing portions are formed to be flush with the base portion.

In addition, at least one of the plurality of connection arms may include a bent portion formed to be partially bent in the longitudinal direction.

In addition, when the pushing portion is rotated in the folded state in the base portion, any one of the plurality of connection arms may be arranged to intersect the other adjacent connection arms and the lower portion of the bent portion.

In addition, when the pushing portion is pivoted to the base portion, the base portion and the plurality of pushing portions may be disposed on each surface to form a three-dimensional internal space.

Embodiments of the present invention allow the thrust generating portion to be folded to minimize the size of the unmanned aerial vehicle when it is stored. In addition, when the propulsion unit is inserted between the supporter units supporting the unmanned aerial vehicle, the propeller is disposed in the inner space of the unmanned aerial vehicle, thereby improving the durability and storage of the unmanned aerial vehicle. Of course, the scope of the present invention is not limited by these effects.

1 is a perspective view illustrating an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2A is a rear perspective view showing the unmanned aerial vehicle of FIG. 1; FIG.
FIG. 2B is a rear perspective view showing another state of the unmanned aerial vehicle shown in FIG. 1. FIG.
3 is an exploded perspective view showing the connection arm shown in FIG.
FIG. 4A is a bottom view illustrating a part of the unmanned aerial vehicle of FIG. 1; FIG.
4B is an enlarged view of a portion A of FIG. 4A.
FIG. 5A is a bottom view illustrating another state of the unmanned aerial vehicle by extracting a part of the unmanned aerial vehicle shown in FIG. 1. FIG.
FIG. 5B is an enlarged partial view of the area B in FIG. 5A.
FIG. 6 is a bottom view of the unmanned aerial vehicle of FIG. 2b.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that the terms "comprises" and / or "comprising" used in the specification are intended to be inclusive in a manner similar to the components, steps, operations, and / Or additions. The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another.

In the following embodiments, the x-axis, the y-axis, and the z-axis are not limited to three axes on the orthogonal coordinate system, but can be interpreted in a broad sense including the three axes. For example, the x-axis, y-axis, and z-axis may be orthogonal to each other, but may refer to different directions that are not orthogonal to each other.

FIG. 1 is a perspective view illustrating an unmanned aerial vehicle 100 according to an embodiment of the present invention. FIG. 2 (a) is a rear perspective view showing the unmanned air vehicle 100 of FIG. 1, In FIG.

Referring to FIGS. 1, 2A and 2B, the unmanned aerial vehicle 100 includes a base 10, a propulsion unit 20, a supporter unit 30, a rotation plate 40, and a connection arm 50 .

The base 10 may be disposed at the center of the UAV 100 to form a center of balance of the UIL 100. The base unit 10 provides a space for installing communication parts, control parts, image pickup parts, and the like mounted on the UAV 100.

The base 10 may support a propulsion unit 20 that generates thrust force to the unmanned aerial vehicle 100. The pushing portion 20 may be installed on the outer side of the base portion 10. The propulsion portion 20 may be disposed radially in the center of the base portion 10 to increase the amount of air passing through the propulsion portion 20 when the propulsion portion 20 generates thrust.

The shape of the base portion 10 is not limited to a specific shape, and the base portion 10 may be formed in a polygonal shape or a cylindrical shape. Hereinafter, for convenience of description, the case of forming a substantially quadrangular prism will be described.

The propulsion unit 20 may be installed to be rotatable along the side surface of the base unit 10. [ The base portion 10 has four side surfaces and is provided with a first propelling portion 20a, a second propelling portion 20b, a third propelling portion 20c, and a fourth propelling portion 20b along respective side surfaces of the base portion 10, A portion 20d may be provided.

A control unit (not shown) may be installed in the inner space of the base unit 10. The control unit includes sensors for flight operation of the unmanned air vehicle 100 and various sensors for aerial observation and can control each sensor.

For example, the control unit may include a gyro sensor, an acceleration sensor, a position sensor, or a pressure sensor. The gyro sensor can measure the rotational speed of the rotating UAV 100 by measuring the angular acceleration of the UAV 100. The acceleration sensor can measure the moving speed of the UAV 100 by measuring the acceleration of the UAV 100. The position sensor can measure the position of the unmanned air vehicle 100 by measuring the position coordinates of the unmanned air vehicle 100. The pressure sensor can measure the altitude of the UAV 100 by measuring the atmospheric pressure outside the UAV 100.

The control unit receives the signal input through the communication module (not shown), and can control the position, speed, or altitude of the UAV 100. The communication module may receive a signal related to position (GPS, global positioning system) information from an external controller (not shown) and transmit a signal related to the position information to the control unit. The controller may control the rotation speed of the first actuator 22 to control the position, speed or altitude of the unmanned aerial vehicle 100.

Also, the controller may generate information on the position, speed, or altitude measured by the unmanned aerial vehicle 100 as a signal and transmit the signal to a communication module (not shown). The communication module can transmit the received signal to the controller.

The unmanned air vehicle 100 may be equipped with a camera module (not shown) to capture aerial photographs or moving pictures to collect image or moving picture information. A camera module may be installed on one side of the base unit 10, and images or moving images photographed by the camera module may be stored or transmitted to the controller through a communication module.

The unmanned aerial vehicle 100 may be provided with a speaker module (not shown) or a microphone module (not shown) to emit voice information or collect voice information.

The propulsion unit 20 may be installed to be rotatable with respect to the base unit 10. A plurality of the pushing portions 20 may be radially provided at the center of the base portion 10. [ The propelling unit may generate a thrust for driving the unmanned aerial vehicle 100 and may include a duct 21, a first actuator 22, a propeller 23, and a rib 25.

At least one or more pushing portions are provided and may be disposed on the side surface of the base portion 10. Hereinafter, for convenience of explanation, the UAV 100 is provided with a first propelling unit 20a, a second propelling unit 20b, a third propelling unit 20c, and a fourth propelling unit 20a on each side of the base unit 10, And a case where a portion 20d is provided will be mainly described. The first to fourth propelling units are different from each other only in the position at which they are disposed in the base unit 10 and have the same configuration. The first propelling unit 20a will be mainly described below.

The duct (21) can be installed to be rotatable on the side surface of the base (10). The duct 21 may include an O-ring 21a provided on the outer side of the rotating propeller 23 and a frame 21b contacting the base 10.

The O-ring 21a may be connected to the frame 21b to surround the outside of the propeller 23. [ The O-ring 21a is formed in an annular shape to guide the flow of air passing through the propeller 23. The O-ring 21a can guide the flow of air in the direction of the rotation axis of the propeller 23. [

The frame 21b is connected to the base portion 10 and can rotate. The base portion 10 and the frame 21b form a hinge connection so that the duct 21 can rotate at a predetermined angle. The O-rings 21a are connected to extend to the frame 21b and can rotate in the base 10 by the rotation of the frame 21b.

The first actuator 22 may rotate the propeller 23 to generate propulsive force. The first actuator 22 may be supported by a plurality of rib portions 25 across the O-ring 21a.

The first actuator 22 can be independently controlled by the control unit. The first actuator 22 can control the thrust by adjusting the rotational speed (rpm) according to the signal of the control unit. The first actuator 22 is powered by a battery (not shown) installed in the base 10, and can transmit power to the propeller 23.

The rib portion 25 is provided to cross the O-ring 21a and the first actuator 22 may be installed at the center of the O-ring 21a. The rib portion 25 may have a second through hole for engaging with the connecting arm 50. Referring to FIG. 3, the first connection arm 50 may be connected to the rib portion 25 by the second pin 62. The second pin 62 may be inserted into the second hole 51? Formed in the first connection arm 50 and the second through hole.

The supporter section 30 protrudes from the base section 10 and can support the base section 10. The supporter portion 30 is formed to extend from one surface of the base portion 10. When the unmanned air vehicle 100 is installed, the supporter unit 30 can contact the ground to support the base unit 10.

A plurality of supporter sections 30 may be provided. The supporter unit 30 can balance the unmanned aerial vehicle 100 by dispersing the weight of the base unit 10. The supporter portion 30 may be formed to correspond to each side surface of the base portion 10. Further, the supporter section 30 can be formed in a radial shape. Hereinafter, for the sake of convenience of explanation, the case where two supporter sections 30 are formed on both sides of the base section 10 to face each other will be described.

The supporter unit 30 may include a pair of first supporters 31 connected to cross the base unit 10 and a second supporter 32 connecting the first supporter 31 to each other. The first supporter 31 can maintain the gap between the base 10 and the ground. The second supporter 32 can connect the first supporters 31 to improve the strength and balance of the supporter 30. [

The second supporter 32 may be formed thicker than the first supporter 31. The second supporter 32 is formed to protrude inward to improve the area of the portion contacting the ground. The stability of the unmanned aerial vehicle can be increased by increasing the contact area between the unmanned aerial vehicle (100) and the ground.

The angle formed by the supporter portion 30 and the base portion 10 is not limited to a specific angle. For example, the base portion 10 and the first supporter 31 may be formed to be substantially perpendicular, or the angle between the base portion 10 and the first supporter 31 may form an obtuse angle. Hereinafter, the case where the UWB 100 forms a substantially hexahedron when the base portion 10 and the first supporter 31 are formed substantially perpendicular to each other and the propulsion portion 20 is folded will be described .

 The rotation plate 40 can be installed to be rotatable on one side of the base 10. The rotation plate 40 may be disposed at the center of the base portion 10. The rotary plate 40 may be connected to the propelling portion 20 by a connecting arm 50.

The rotary plate 40 is installed on the lower surface of the base 10 and can rotate the propelling unit 20 by the rotation of the rotary plate 40. The second actuator (41) is installed in the base (10) and can transmit the driving force to the rotary plate (40). The second actuator 41 may include an encoder and a speed reducer to adjust a rotational force or a rotational speed of the second actuator 41.

The rotary plate 40 may have a first through hole connected to a plurality of connection arms 50 on the outer side thereof. A plurality of first through holes may be formed corresponding to the number of connection arms provided on the rotation plate 40. Due to the rotation of the rotation plate 40, the plurality of connection arms can simultaneously move in the rotation direction of the rotation plate 40.

In detail, the rotary plate 40 may have a first through hole through which the first pin 61 is inserted. The rotation plate 40 is configured such that the first pin 61 is inserted into the first hole 51? Of the first connection arm 50 and the first through hole to connect the first connection arm 50 to the rotation plate 40, Can be installed. The first through-hole may be disposed outside the center of the rotary plate 40 to increase the magnitude of the torque formed by the rotary plate 40.

The connection arm 50 can connect the rotation plate 40 and the propulsion unit 20. When the rotation plate 40 rotates, the connection arm is interlocked with the rotation of the rotation unit 40 to rotate the propulsion unit 20. A plurality of connection arms 50 may be provided to correspond to the respective propelling portions 20.

The connecting arm 50 includes a first connecting arm 50 connected to the first pushing portion 20a, a second connecting arm 50 connected to the second pushing portion 20b, a third pushing portion 20c, And a fourth connection arm 50 connected to the third connection arm 50 and the fourth propulsion unit 20d. The first connection arm 50 and the third connection arm 50 facing the first connection arm 50 will be described with respect to substantially the same first connection arm 50 only in the arrangement position. The second connecting arm 50 and the fourth connecting arm 50 facing the second connecting arm 50 will be described with respect to the second connecting arm 50 which is substantially the same as the first connecting arm 50 except for the arrangement position thereof.

 Fig. 3 is an exploded perspective view showing the first connection arm 50 shown in Fig.

The first connection arm 50 may have a bent portion 51c that is bent so as to partially protrude in the longitudinal direction. The first connection arm 50 includes a first end portion 51a connected to the propelling portion 20, a second end portion 51b connected to the rotation plate 40, and a first end portion 51a and a second end portion 51b (Not shown).

The first connecting arm 50 can be connected to the rotating plate 40 by the first joint 51d. The first joint 51d may be inserted into the first end portion 51a and include a first hole 51 ?. The first pin 61 may be inserted into the first hole 51? And the first through hole to connect the rotation plate 40 and the first connection arm 50.

The first connecting arm 50 can be connected to the propelling portion 20 by the second joint 51e. The second joint 51e may be inserted into the second end portion 51b and have a second hole 51?. The second pin 62 is inserted into the second hole 51? And the second through hole to connect the pushing member 20 and the first connection arm 50.

The center axis of the first hole 51? And the center axis of the second hole 51? May be arranged to be shifted from each other. The center axis of the first hole 51? And the center axis of the second hole 51? May be shifted from each other because the rotation direction of the pushing portion 20 and the plane formed by the rotation of the rotation plate 40 do not coincide with each other . The central axis of the first hole 51? May be perpendicular to the central axis of the second hole 51?.

The first pin 61 and the second pin 62 may be formed in the form of a ball joint. Since the rotation direction of the propelling unit 20 and the plane formed by the rotation of the rotation plate 40 do not coincide with each other, the first connection arm 50 requires a plurality of degrees of freedom. The first pin 61 and the second pin 62 may be formed in the form of ball joints to increase the detree of freedom of the first connection arm 50.

The second connection arm 50 and the fourth connection arm 50 may be formed in a cylindrical shape. The second connection arm 50 and the fourth connection arm 50 may be formed in the form of a bar to connect the propulsion unit 20 and the rotary plate 40.

The operation of folding the propulsion unit 20 of the UAV 100 by the rotation of the rotary plate 40 will be described as follows.

FIG. 4A is a bottom view showing a part of the unmanned air vehicle 100 of FIG. 1, and FIG. 4B is a partially enlarged view of an area A of FIG. 4A.

4A and 4B, the pushing portion 20 may form an unfolded state so as to form the same plane as the base portion 10. Hereinafter, the unmanned aerial vehicle 100 is defined as being placed in the first position when the propelling unit 20 is placed in a deployed state.

The first joint 51d and the first pin 61 are disposed at the position of P1. P1 is disposed adjacent to the propelling portion 20 to which the first connecting arm 50 is connected. When the unmanned flying vehicle 100 is disposed at the first position, the axis i perpendicular to the base portion 10 is disposed orthogonally to the axis j included in the plane formed by the propelling portion 20. (? 1? 90 degrees)

The plurality of pushing portions 20 may be formed flush with the base portion 10 so that air passing through each propeller 23 may flow in one direction. That is, the propulsion unit 20 is arranged to flow air in a direction perpendicular to the base unit 10, thereby improving the maneuvering power of the UAV 100.

FIG. 5A is a bottom view showing another state of the UAV 100 by extracting a part of the UAV 100 shown in FIG. 1, and FIG. 5B is a partially enlarged view showing an area B of FIG. .

5A and 5B, the pushing portion 20 can form a folded state at a predetermined angle in the base portion 10. When the propulsion unit 20 and the base unit 10 are folded to form an acute angle, the UAV 100 is defined as being placed in the second position.

The first connection arm 50 can be rotated by the rotation of the rotation plate 40. The first joint 51d and the first pin 61 are disposed at the P2 position. That is, the first joint 51d and the first pin 61 move from the P1 position to the P2 position by the rotation plate 40 rotating counterclockwise by a predetermined rotation angle? 3.

When the unmanned flying vehicle 100 is disposed at the second position, the axis i perpendicular to the base 10 can form an acute angle with the axis j included in the plane formed by the propulsion unit 20. [ (0 degree <? 2 <90 degrees)

FIG. 6 is a bottom plan view showing a part of the unmanned aerial vehicle 100 of FIG. 2B.

2b and 6, the pushing portion 20 may form a substantially vertically folded state at the base portion 10. [ At least a part of the pushing portion 20 may be arranged to be inserted into the supporter portion 30. [ Hereinafter, when the propulsion unit 20 and the base unit 10 are placed in a substantially vertically folded state, the UAV 100 is defined as being placed in the third position.

When the unmanned air vehicle 100 is placed in the third position, the first joint 51d and the first pin 61 are disposed at the position P3. That is, the rotary plate 40 rotates counterclockwise, so that the first joint 51d and the first pin 61 move from P2 position to P3.

When the UAV 100 is disposed at the third position, the axis perpendicular to the base 10 may be included in the plane formed by the pushing portion 20. That is, the pushing portion 20 can be folded so as to be perpendicular to the base portion 10.

The first connection arm 50 and the second connection arm 50 and the fourth connection arm 50 which are adjacent to the first connection arm 50 may intersect with each other. At this time, the second connection arm 50 is disposed below the bent portion 51c of the first connection arm 50, and the fourth connection arm 50 is provided on the first end portion 51a of the first connection arm 50, Can be arranged.

When the first connection arm 50 is moved from the first position to the second position, the first connection arm 50 may interfere with other neighboring connection arms. It is possible to form a space through which the second connection arm 50 of the bent portion 51c can move so that interference that may occur between the first connection arm 50 and the second connection arm 50 can be eliminated. The third connection arm 50 can also eliminate the interference that may be caused by the fourth connection arm 50 in the same manner as the first connection arm 50. [

The plurality of pushing portions 20 may be folded to be inserted into the supporter portion 30 and disposed at the third position. The plurality of pushing portions 20 may be arranged to be orthogonal to the base portion 10. When the plurality of propulsion units 20 are disposed at the third position, the unmanned aerial vehicle 100 can form a cubic or substantially hexahedral shape. However, it is formed by the number of the propelling portions 20 and may be formed into a shape such as a triangular prism, a pentagonal prism, a hexagonal prism, a octagonal prism or a cylinder depending on the number of the propulsion portions 20. [

When the unmanned air vehicle 100 forms the third position, the base unit 10 and the propelling unit 20 can form an internal space of the UAV 100. At this time, the first actuator 22 and the propeller 23 may be located in the inner space. In detail, the front end of the propeller 23 may be disposed so as not to protrude from the propelling portion 20. Since the propeller 23 is manufactured in a firm manner, if it protrudes to the outside, there may be a problem in safety during storage and transportation. When the propeller 23 is disposed at the second position, the propeller 23 is not projected to the outside.

In the UAV 100, the propeller 23 is not projected to the outside, so that the safety of the storage can be improved. Also, it is possible to minimize the size of the UAV 100, thereby improving space utilization and reducing damage to the propeller 23.

The second supporter 32 may protrude from the inside of the UAV 100 while facing each other. The protruded portion of the second supporter 32 is disposed in the inner space when the unmanned air vehicle 100 is disposed at the second position, so that the size of the unmanned air vehicle 100 can be minimized. Thus, the unmanned aerial vehicle 100 can be easily stored and the space utilization of the unmanned air vehicle 100 can be increased.

When the propulsion unit 20 is disposed at the first position, the UAV 100 can fly with the propulsive force of the propulsion unit 20. Further, the rotation speed of the propeller 23 of each propelling unit 20 can be adjusted to change the direction or change the altitude. In addition, the propeller 23 can be hovered while maintaining the same velocity.

When the propulsion unit 20 is disposed at the third position, the unmanned aerial vehicle 100 can be easily stored. The volume of the unmanned air vehicle 100 can be minimized and space utilization can be improved.

The unmanned flying vehicle 100 can simultaneously rotate the propulsion unit 20 by a simple operation by rotating the rotation plate 40 so that the plurality of propulsion units 20 can rotate at the same time.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it is possible to make various modifications and variations without departing from the spirit and scope of the invention. Accordingly, it is intended that the appended claims cover all such modifications and variations as fall within the true spirit of the invention.

10: Base portion
20: Propulsion unit
21: Duct
22: First Actuator
23: Propeller
25: rib portion
30: supporter section
40: rotating plate
41: second actuator
50: connection arm
61: first pin
62: second pin

Claims (16)

A base portion;
A propulsion unit having a first actuator and a propeller rotating by the power of the first actuator, the propulsion unit being rotatably installed outside the base unit;
A rotating plate rotatably installed on one surface of the base; And
And a connection arm connecting the rotation plate and the propelling unit. The method according to claim 1,
And the connecting arm rotates the propelling unit when the rotating plate rotates. The method according to claim 1,
And the rotating plate is disposed at the center of the base portion. The method according to claim 1,
Wherein the connection arm has a bent portion bent to partially protrude in the longitudinal direction. The method according to claim 1,
A first hole is formed at one end of the connection arm, the first pin is inserted into the first hole and connected to the rotation plate, and the second hole is provided at the other end of the connection arm, 2 pins are inserted and connected to the propelling unit,
And the center axis of the first hole and the center axis of the second hole are disposed to be shifted from each other. 6. The method of claim 5,
And the pushing portion folds at the base portion when the first hole is away from the pushing portion. The method according to claim 1,
Wherein the pushing portion is pivoted in a state in which the pushing portion is folded on the base portion in a state in which the pushing portion is spread to form the same plane as the base portion. 8. The method of claim 7,
When the rotation plate is rotated in the first direction, the pushing portion is rotated in a folded state in a state of being spread on the base portion. When the rotation plate is rotated in the direction opposite to the first direction, the pushing portion is folded in the base portion Unmanned aerial vehicle that rotates in unfolded state. The method according to claim 1,
And a supporter portion extending to project from the base portion and supporting the base portion. 10. The method of claim 9,
And at least a part of the pushing portion is inserted into the supporter portion when the rotating plate rotates. A base portion;
A plurality of pushing portions provided on respective side surfaces of the base portion and rotatably mounted on the base portion;
A rotating plate rotatably installed on one surface of the base; And
And a plurality of connecting arms installed to connect the plurality of pushing portions to the rotating plate,
Wherein when the rotation plate rotates, the plurality of connection arms rotate to simultaneously rotate the plurality of pushing portions. 12. The method of claim 11,
And the rotating plate is disposed at the center of the base portion. 12. The method of claim 11,
Wherein the plurality of pushing portions are folded on the base portion in a state in which the pushing portions are folded so as to form the same plane as the base portion, 14. The method of claim 13,
Wherein at least one of the plurality of connection arms has a bent portion formed to be partially bent in the longitudinal direction. 15. The method of claim 14,
Wherein one of the plurality of connection arms is disposed to intersect with another neighboring connection arm and a lower portion of the bending portion when the pushing portion is folded in the base portion. 14. The method of claim 13,
Wherein the base portion and the plurality of pushing portions are disposed on respective surfaces when the pushing portion is pivoted to the base portion, thereby forming an internal space of a three-dimensional shape.

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