KR101984540B1 - Hybrid drone capable of traveling on the ground and flying havign suspension ability - Google Patents

Abstract

[0001] The present invention relates to a hybrid weight concentration type UAV capable of traveling and flying, and more particularly, to a UAV having a main body having a skeleton disposed at the center thereof and having a traveling device connecting arm extending outward at four corners, A plurality of ground running wheels each of which is connected to the apparatus connecting arm so as to enable ground running; a lift generating device provided on the ground running wheel for flying the main body in a flying manner; Wherein the driving means is provided to transmit a predetermined rotational force generated from a driving motor provided in the main body to the ground running wheel connected by a constant velocity joint, thereby preventing the center of gravity from being dispersed, It provides the advantage of enabling driving and aerial flights.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a hybrid unmanned aerial vehicle

[0001] The present invention relates to a hybrid unmanned aerial vehicle capable of traveling and flying with a suspension function, and more particularly, it can be configured to be capable of running on the ground as needed, The present invention also relates to a hybrid unmanned aerial vehicle capable of traveling and flying capable of reducing energy required for air flight by minimizing the air flight time by making it possible to move to a desired place through the ground running.

Recently, a variety of unmanned aerial vehicles (UHVs) called "Drone" have been developed, such as Quadcoptor, Hexacoptor, Octocoptor, etc. There is a Multicoptor.

Particularly, the quad-copter is equipped with four vertically installed rotors. A plurality of propellers are radially connected to each of the rotors, and the rotational speed and the rotational direction of the rotors are independently controlled, And adjust the posture and flight direction.

Such a conventional unmanned aerial vehicle has a disadvantage that it can not enter a part where airborne flight is impossible due to a large number of air obstacles. For example, there are disadvantages that it is impossible to enter into forests with many trees, lots of wires and narrow alleys.

In addition, there is a problem in that the use thereof is limited due to such drawbacks.

In addition, the conventional unmanned aerial vehicle has a disadvantage that much energy is consumed to fly the air by driving the rotor, and the disadvantage is that the battery is consumed prematurely, shortening the flight time.

And because of this problem, the travel distance is shortened and its use is limited.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned technical problems, and it is an object of the present invention to provide a navigation system capable of traveling on a ground, Capable hybrid unmanned aircraft.

It is another object of the present invention to provide an airbag system that can be moved to a desired place through ground running in a place where airborne flight is impossible, so that it can be quickly moved to a desired place regardless of a flying environment and conditions, And a hybrid unmanned aerial vehicle capable of flying.

Another object of the present invention is to provide a hybrid unmanned aerial vehicle capable of minimizing the air flight time by allowing the vehicle to travel to a desired place even through the ground running, To provide aircraft.

It is a further object of the present invention to provide a hybrid unmanned aerial vehicle capable of minimizing the consumption of the battery by reducing the energy required for aerial flight and capable of greatly increasing the travel distance, .

It is still another object of the present invention to provide a hybrid unmanned aerial vehicle capable of flying and traveling so as to concentrate the center of gravity to the central portion to eliminate the imbalance during the airborne flight and to enable stable airborne flight.

A preferred embodiment of the hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention includes a main body having a skeleton disposed at the center and having a traveling device connecting arm extending outward at four corners, A plurality of ground running wheels each of which is connected to the connecting arm so as to enable the ground running, a lift generating device provided on the ground running wheel for flying the main body, and a drive unit And the driving means transmits a predetermined rotational force generated from a driving motor provided in the main body to the ground running wheel connected by a constant velocity joint.

Here, the driving means may include: the driving motor provided in the main body; a rotating shaft that transmits a predetermined rotational force while being directly coupled to the rotating shaft of the driving motor; and a rotating shaft provided on the ground running wheel, And a sprocket gear connected to the sprocket gear.

Further, the rotating shaft may be disconnected at least once between both ends, and the disconnected part may be connected by the constant velocity joint.

Also, the rotating shaft may be built in and protected by a shaft housing that communicates the main body with the ground running wheels.

The constant velocity joint may be provided on the rotating shaft when the rotating shaft of the driving motor and the rotating shaft of the sprocket gear are not coaxial.

The driving unit may further include a driving unit fixing unit for fixing the driving unit to the ground driving wheel.

The ground running wheel may include a fixed wheel fixedly installed at a distal end portion of the traveling device connecting arm and a rotating wheel rotatably installed around the fixed wheel, And an inner wheel which forms an inner skeleton, and the driving means fixing portion supports the driving means (50) so as to pass through the fixed wheel, and supports the inner wheel and the outer wheel, respectively, can do.

The driving means fixing portion includes an inner fixing bracket provided on the inner side of the ground running wheel and supporting the driving means so as to penetrate the inner wheel, An outer fixing bracket for supporting the end portion of the rotary shaft and a rotary bearing interposed inside the outer fixing bracket for rotationally supporting the rotary shaft of the sprocket gear.

The suspension system may further include a suspension provided in the ground running wheel and absorbing a road surface impact transmitted from the ground during the ground running of the main body.

The suspension device may further include a moving rod connected to the traveling device connecting arm and supporting a load of the main body, and an installation groove provided in the ground running wheel, the upper end supporting the moving rod, And a suspension spring resiliently supported in the installation groove.

The steering apparatus further includes a steering device for changing the traveling direction of the main body when traveling on the ground, wherein the steering device includes a steering wheel connected to a pair of ground running wheels provided at the front or rear side of the main body, Load; A connecting rod connected to the other end of the steering rod for moving the steering rod to the left or right so as to rotate the pair of ground running wheels with a rotation axis of a portion to which the traveling device connecting arm is connected; And a steering motor having one end of the connecting rod fixed and the other end of the connecting rod connected to the steering rod to rotate left or right about the one end.

Wherein the steering motor and the steering rod and the connecting rod are provided in a pair so as to be respectively engaged with only one of left and right of the pair of ground running wheels and the steering apparatus is connected to the other end of the connecting rod And an interlocking rod for interlocking the pair of steering rods.

In addition, both ends of the steering rod may be ball-jointed to the ground running wheel so as to absorb a height difference generated when the body moves relative to the ground running wheel by the suspension.

The ground running wheel may be provided with a front end and a rear end rotatable about a vertical rotation axis with respect to the traveling apparatus connecting arm, and the steering apparatus may include: a vertical rotation axis of the traveling apparatus connecting arm, Lt; / RTI >

Another embodiment of the hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention includes a main body having a skeleton disposed at the center thereof and having a traveling device connecting arm extending outward at four corners, A plurality of ground running wheels each of which is connected to each of the arms so as to enable the ground running, a lift generating device provided on the ground running wheel for flying the main body, and driving means for driving the ground running wheel Wherein the driving means includes a plurality of driving wheels for driving two ground driving wheels provided forward or rearward of the plurality of ground driving wheels, And may be provided on the ground running wheel near the vertical center axis of the main body with respect to the axis.

According to the hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention, since it is provided with a ground running device, it is possible to run on the ground if necessary, and it is possible to move to a desired place through ground running.

Particularly, since there are many obstacles in the air, it is possible to move quickly to a desired destination regardless of the flying environment and the condition by traveling on the ground where the air flight is impossible.

In addition, since it is possible to run on the ground, it can reduce energy consumption and air flight, and can move to a desired place, thereby saving energy.

Particularly, in the place where the ground running is possible, it is moved by using the ground running with low energy consumption, and it is configured to be able to fly only when there is a ground obstacle such as swamp, forest, building, It is possible to remarkably reduce the energy to be supplied.

In addition, since the energy required for air flight can be reduced, the consumption of the battery can be minimized, and the travel distance can be greatly increased.

In addition, the structure is designed so that the entire center of gravity is concentrated at the center, thereby making it possible to stabilize flying in the air flight.

Further, since the traveling direction can be changed actively by the steering means during the ground running, the ability to cope with the obstacle can be improved.

1 is a perspective view of a hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention,
Fig. 2 is a sectional view of Fig. 1,
Fig. 3 is a side view of Fig. 1,
4 is a cross-sectional view taken along the line AA in Fig. 2,
FIG. 5 is a partially exploded perspective view and a partial enlarged view of FIG. 1,
Fig. 6 is a front view of Fig. 5,
7 is a perspective view of a hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention,
Fig. 8 is a cross-sectional view showing steering means in the configuration of Fig. 7,
FIG. 9 is an operation diagram illustrating an operation example of a hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of a hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention will be described in detail with reference to the accompanying drawings.

2 is a cross-sectional view of FIG. 1, FIG. 3 is a side view of FIG. 1, and FIG. 4 is a cross-sectional view taken along the line AA of FIG. 2. FIG. to be.

First, before examining the features of the present invention, the unmanned aerial vehicle will be briefly described with reference to FIG. 1 to FIG. Hereinafter, as an example of the UAV, a quadcoptor will be described as an example.

The UAV has a main body (10). The main body 10 may include a rectangular frame structure 10b having a predetermined thickness, which functions as a center skeleton of the hybrid unmanned aerial vehicle according to the present invention.

A driving motor 51 and a steering device 90 to be described later may be connected to the inside of the rectangular frame structure 10b or a battery mounting portion (not shown) in which a battery (not shown) is installed. Furthermore, various sensors, a GPS (Global Positioning System), a wireless communication device, a control unit, and the like can be installed inside the rectangular frame structure 10b.

A bottom plate (not shown) may be mounted on the lower surface of the rectangular frame structure 10b so as to close the lower opening so that the driving motor 51 and the steering apparatus 90 are supported.

The main body 10 may further include a mounting plate 10a disposed on the upper surface of the rectangular frame structure 10b and providing a mounting place on which business equipment (not shown) is mounted. On the upper part of the mounting plate 10a, a variety of business equipments including recording means, recording means, and measuring means (sensor) are mounted to collect information.

The main body 10 may further include a traveling device connecting arm 12 disposed on each of corner portions of the rectangular frame member 10b and horizontally extended in the lateral oblique direction and laterally extended in the lateral direction have.

The traveling device connecting arm 12 can be formed integrally with the rectangular frame member 10b.

More preferably, the traveling device connecting arm 12 may be integrally formed so as to include the left end or the right end of the rectangular frame member 10b, respectively. In addition, the traveling device connecting arm 12 has a front end portion and a rear end portion corresponding to the corner portions of the rectangular frame member 10b, horizontally extended in the lateral oblique direction as described above, And may be provided as a left traveling device connecting arm 12 and a right traveling device connecting arm 12. Here, the front end and the rear end corresponding to the above-mentioned corner portions are connected to each other by a separate frame, or are fixed firmly in the vertical direction by using the above-mentioned bottom plate and the mounting plate 10a, It is also possible to constitute the traveling device connecting arm 12 at the same time.

The traveling device connecting arm 12 is provided on the front left side, the front right side, the rear left side, and the rear right side with respect to the main body 10, respectively.

1 to 4, a ground running device 30 can be connected to each of the leading end portions of the traveling device connecting arm 12, respectively.

The ground running device (30) may include ground running wheels (40) fixed to the leading end of the traveling device connecting arm (12), respectively.

As described above, the ground running wheels 40 are respectively provided at the tip ends of four traveling apparatus connecting arms 12, and four ground running wheels 40 are provided And is connected to four corner portions of the main body 10.

Particularly, the ground running wheels 40 are installed in pairs on the left and right, and pairs of the ground running wheels 40 installed in this manner are arranged side by side in the front-rear direction of the main body 10.

The ground running wheels 40 include a ring type fixed wheel 42 fixedly mounted on the leading end of the traveling apparatus connecting arm 12 and a ring type fixed wheel 42 fixed to the leading end of the traveling apparatus connecting arm 12, And a ring-shaped rotary wheel 44 to be installed.

FIG. 5 is a partially exploded perspective view and partially enlarged view of FIG. 1, FIG. 6 is a front view of FIG. 5, FIG. 7 is a perspective view of a hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention, 7 is a cross-sectional view showing steering means in the configuration of Fig. 7; Fig.

The fixed wheel 42 may be composed of an outer wheel 33 forming an outer skeleton and an inner wheel 34 forming an inner skeleton, as shown in Fig.

The outer wheel 33 and the inner wheel 34 may be interconnected by a plurality of guide rollers 46 as described below as well as by a plurality of connection bolts 36 at a plurality of locations.

The outer wheel 33 and the inner wheel 34 are spaced apart from each other by a predetermined distance so that a predetermined space is provided between the outer wheel 33 and the inner wheel 34. In a predetermined installation space formed by the outer wheel 33 and the inner wheel 34, A suspension unit 70, a drive unit fixing unit 80 and lift generation units 20 and 21, which will be described later, including the above-described turning wheel 44, can be installed. This will be described in detail in the corresponding part.

A plurality of guide rollers 46 are provided at a predetermined angle in the circumferential direction on the outer circumferential surface side of the fixed wheel 42 (that is, the portion where the outer circumferential ends of the outer wheel 33 and the inner wheel 34 are mutually connected). The plurality of guide rollers 46 serve to support the inner surface of the rotatable wheel 44. The plurality of guide rollers 46 guide the rotatable wheel 44 provided on the outer peripheral surface side of the fixed wheel 42, .

4, a portion of the thickness of the rotatable wheel 44 is formed with a ring-shaped rack gear portion (not shown) which engages with the gear teeth of the sprocket gear 57, which is one of the structures of the drive means fixing portion 80 And a rotation support portion 44 " in which the rest of the thickness is smoothly formed and the outer circumferential surface of the plurality of guide rollers 46 is supported.

The maximum outer diameter of the rotatable wheel 44 is larger than the maximum outer diameter of the fixed wheel 42 so that the outer circumferential surface can be exposed to the outside of the fixed wheel 42 when the rotatable wheel 44 is fixed to the fixed wheel 42. [ It is preferable to form it larger than the above.

A plurality of guide rollers 46 are provided between the fixed wheel 42 and the rotatable wheel 44 and are provided at a predetermined interval in the circumferential direction and a plurality of guide rollers 46 are rotatably supported by the rotatable wheels 44 Of the inner circumferential surface of the rotating support portion 44 ".

In this embodiment, the rotative wheel 44 is supported by the entire fixed wheel 42, but is not limited thereto. For example, the fixed wheel 42, particularly, the outer wheel 33 forming the outer skeletal force may have a circular frame structure, but may be a semicircular frame structure in which a part of the portion not abutting the ground is removed. Accordingly, the inner wheel 34 can be formed only inside the outer wheel 33 of the semicircular frame structure. The total weight of the surdron can be reduced by changing the shape of the frame.

As shown in Figs. 1 to 4, the inner side of the ground running wheel 40 is configured to allow installation of a drive means fixing portion 80 and lift generation devices 20 and 21 to be described later, It is preferable that a predetermined space is ensured for the light emitting diode.

To this end, a mounting plate 31, which is formed in a substantially " T " shape on the lower side of the inside of the ground running wheel 40 and connects the inner circumferential surface of the fixed wheel 42, may be provided. One pair of the mounting plates 31 are spaced apart from each other so as to connect the inner circumferential surfaces of the outer wheel 33 and the inner wheel 34. The spacing between the suspension plates 70, (80) can be installed.

On both right and left sides of the mounting plate 31, the through holes 32 are formed to pass through in the left and right directions, so that the weight of the product can be reduced.

A preferred embodiment of the hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention further includes driving means (50) for driving the ground running wheels (40) as shown in Figs. 1 to 5 .

2, the driving means 50 includes a driving motor 51 installed between the rectangular frame structures 10b of the main body 10 to generate a predetermined rotational force, And a sprocket gear 57 connected to the end of the rotary shaft 55 for rotating the rotary shaft 55.

The driving means 50 may further comprise a shaft housing (not shown). The shaft housing allows the main body 10 and the ground running wheels 40 to communicate with each other and incorporates a rotating shaft 55 to protect the rotating shaft 53 from the outside.

The rotary shaft 55 may be provided as a single straight line, but a configuration in which the both ends are disconnected at least once so as to change the power transmission angle, and the disconnected portion is connected by the constant velocity joint 53 .

this is. The height of the main body 10 provided with the drive motor 51 is different from the installation height of the drive means fixing portion 80 with respect to the ground running wheel 40 to be described later, And the power transmission shafts are shifted from each other because the rotary shaft of the transmission shaft 57 is the horizontal axis.

Four such driving motors 51 may be provided to transmit power independently to each of the ground running wheels 40. One of the driving motors 51 may be disposed in front of the ground running wheels 40, And the other driving motor 51 transmits the power to the pair of ground running wheels 40 located at the rear of the ground running wheels 40. [ (40) pairs at the same time.

However, in a preferred embodiment of the present invention, as shown in Figs. 2 and 5, two drive motors 51 are provided on a pair of ground running wheels 40 positioned on the front or rear side respectively And the like.

1 to 5, a pair of drive motors 51 is connected to a pair of ground running wheels 40 (see FIG. 1) located on the rear side of a plurality of ground running wheels 40 Pair, the main body 10 may have an advantage that it can run forward in the rear-wheel drive manner.

Conversely, when the pair of drive motors 51 are provided to transmit power to a pair of ground running wheels 40 positioned on the front side of the plurality of ground running wheels 40, Can have an advantage of being able to run on the ground forward by the front wheel drive system.

In the preferred embodiment of the present invention, the driving motor 51 is disposed on the side of the main body 10 remote from the ground running vault 40 as possible so that the entire center of gravity is concentrated at the center of the product, It is possible to maintain the balance of the fuselage which has the greatest influence on stability in flight.

In other words, it is possible to expect an embodiment in which the drive motors 51 are individually provided on the respective ground running wheels 40, as shown in Figs. 5 to 8. In this case, however, 51, the center of gravity may be dispersed to the outside of the body 10. In this case, the body may be easily eccentrically unilaterally in a wind direction or various flight environments, have.

5 to 8 (in particular, see Fig. 8), even when the driving motor 51 is installed individually on the side of the ground running wheels 40, It is preferable that the ground running wheels 40 are installed at one part of the ground running wheel 40 close to the central vertical axis C1 of the main body 10 based on the central vertical axis C2 of the ground running wheels 40 so as to be concentrated at the center of the product.

At this time, it is natural that the drive means 50 should be provided at the optimum position where the ground running wheel 40 is driven to rotate by the sprocket gear 57. That is, as will be described later, it is natural that the drive means 50 should be provided at a position where the sprocket gear 57 and the ring-shaped rack gear portion 44 'of the rotatable wheel 44 can be stably combined.

A preferred embodiment of the hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention further includes a driving means fixing portion 80 for fixing the driving means 50 to the ground running wheels 40 .

5 and 6, the driving means fixing portion 80 is provided inside the ground running wheel 40 and the driving means 50 including the sprocket gear 57 is provided on the inner wheel An inner fixed bracket 81 for supporting the inner fixed bracket 81 so as to penetrate the rotary shaft 55 and an extension of the constant velocity joint 53 interposed inside the inner fixed bracket 81 and substantially connected to the distal end portion of the rotary shaft 55 of the drive means 50 An outer fixed bracket 85 provided on the outer side of the ground running wheel 40 and supporting an end portion of the rotating shaft 57a of the sprocket gear 57, And an outer rotation bearing 83 interposed inside the bracket 85 for substantially supporting the rotation shaft 57a of the sprocket gear 57.

The extension end of the constant velocity joint 53 is arranged so as to pass through the inner rotation bearing 82 before passing through the inner wheel 34 and the extension end of the constant velocity joint 53 through which the inner rotation bearing 82 is passed As shown in Fig.

The end of the rotation shaft of the sprocket gear 57 protrudes outside through the outer wheel 33 by a predetermined length and the outer rotation bearing 83 is fixed to the outer fixing bracket 85 provided on the outer side of the outer wheel 33, So as to support the end of the rotation shaft of the sprocket gear 57.

Therefore, the driving means fixing portion 80 rotatably fixes the driving means 50 on the inner side of the ground running wheel 40 using the inner fixing bracket 81 and the inner rotation bearing 82 At the same time, the outer side of the ground running wheel 40 is rotatably fixed using the outer fixing bracket 85 and the outer rotation bearing 83 so that the driving means 50 can be balanced within the ground running wheel 40, .

This prevents the fastening force due to the eccentricity of the drive means 50 from being weakened and thereby reduces the defect rate of the product due to the decrease in the engagement force between the sprocket gear 57 and the ring-shaped rack gear portion 44 ' .

It is preferable that the driving means fixing portion 80 is provided at a position where the difference in vertical height between the rotating shaft of the driving motor 51 and the rotating shaft of the sprocket gear 57 can be minimized as much as possible among the ground running wheels 40 .

8, the drive means fixing portion 80 may be provided at an end of the upper end of the mounting plate 31 near the center C1 of the main body 10. [

This makes it possible to easily transfer the driving force of the driving means 50 and to concentrate the predetermined weight on the center C1 of the main body 10, thereby making it possible to achieve stable ground running and air flight.

On the other hand, when the drive motor 51 is operated in accordance with a control signal applied in the state where the sprocket gear 57 of the drive means 50 is meshed with the ring-shaped rack gear portion 44 ' Is transmitted to the sprocket gear 57 via the rotating shaft 55, and the ring-shaped rack gear portion 44 'to which the driving force is transmitted rotates the rotatable wheel 44.

At this time, since the maximum outer diameter of the rotatable wheel 44 is larger than the maximum outer diameter of the fixed wheel 42, the main body 10 is allowed to run on the ground while rolling along the ground. Thus, the hybrid unmanned aerial vehicle according to the present invention can travel forward or backward along the ground.

1 to 4, a suspension unit 70 for absorbing a road surface impact transmitted from the ground during a ground running is provided. .

1 to 4, the suspension device 70 includes a moving rod 71 for supporting a load of the main body 10, and a moving rod 71 interposed on the outer peripheral surface of the moving rod 71, And a suspension spring (75) elastically supported in an installation groove (73) formed in a mounting plate (31) of the base plate (42).

Here, the moving rod 71 is integrally formed with the arm engaging portion 25 to which the front end portion of the traveling device connecting arm 12 is engaged, and is supported by the suspension spring 75 in the mounting groove 73, And absorbs the impact when it is moved up and down when it receives an impact from it. That is, the suspension device 70 may be equipped with a shock absorber.

On the other hand, the lift generation devices 20 and 21 may be installed on the arm coupling portion 25.

1 to 4, the lift generators 20 and 21 include a rotor 20, which is provided with an electrically driven motor and is provided to form an up and down vertical axis, And a plurality of propellers 21 that are formed and hydrodynamically hit against the air to generate lift.

When the control signal is applied, the lift generators 20 and 21 rotate the rotor 20 while the motor is driven, float the main body 10 in the air while the plurality of propellers 21 are rotated, So that air flight in various directions becomes possible.

It is preferable that the four rotors 20 are disposed in a position immediately above the front end portion of the traveling device connecting arm 12, and more preferably, the four rotors 20 are disposed in a balanced and stable flight It is preferable to form a square horizontal plane so that it can be performed.

Therefore, it is preferable that the length of the plurality of propellers 21 is set to a length capable of forming a maximum lifting force without interfering with rotational drive.

On the other hand, at the time of ground running, as described above, the driving means 50 is provided to each of the ground running wheels 40 one by one so as to be moved forward or backward in accordance with a control signal, have.

The unmanned aerial vehicle according to the present embodiment may further include a steering device 90 that changes the running direction during ground running.

6 to 8, the steering apparatus 90 is provided with a steering rod (not shown) connected to a pair of ground running wheels 40, one end of which is provided on the front side or the rear side of the main body 10, And a pair of ground running wheels 40 connected to the other ends of the steering rods 94L and 94R so as to be rotated around a portion to which the traveling device connecting arm 12 is connected as a rotational axis, The connecting rods 92L and 92R which move the connecting rods 94L and 94R to the left or right and the connecting rods 92L and 92R to which the one ends of the connecting rods 92L and 92R are fixed and which are connected to the steering rods 94L and 94R, And the steering motors 91L and 91R for rotating the other end of the steering shaft 91L to the left or right about one end.

It is preferable that the steering motors 91L and 91R are provided with servo motors for rotating the other ends of the connection rods 92L and 92R to the left or right around one end in accordance with a control signal for steering.

The steering motors 91L and 91R and the steering rods 94L and 94R and the connecting rods 92L and 92R are provided on either of the left and right sides of the pair of ground running wheels 40 provided on the front side Respectively.

This is to prevent a steering failure that may be caused by dispersing the steering force transmitted from one of the steering motors 91L and 91R to all of the pair of ground wheels 40. [

6 and 7, the steering device 90 is connected to the other ends of the connecting rods 92L and 92R provided at a predetermined distance apart as a pair, and a pair of steering rods 94L and 94R And an interlocking rod 93 for interlocking.

Therefore, the steering force is generated from the two steering motors 91L and 91R, but the pair of steering rods 94L and 94R are interlocked by the interlocking rod 93 so that the ground driving wheel 40 Can be rotated.

Both ends of the steering rod 94 can be connected to the ground running wheel 40 by a ball joint 95. This is to absorb the height difference generated when the ground running wheels 40 move up and down relative to the main body 10 by the suspension device 70.

More specifically, as shown in Fig. 8, the ball joint 95 includes a ball receiving portion 95a provided at the other end of the connecting rod 92L, 92R and a ball receiving portion 95a connected to the connecting rod 92L, 92R And a ball 95b integrally formed at the other end of the steering rods 94L and 94R and received in the ball receiving portion 95b.

It will be appreciated that such a ball joint 95 is applied to the connection structure of one end of the steering rod 94 connected to the ground running wheel 40 as it is.

Therefore, even when the relative height difference between the main body 10 and the ground running wheel 40 occurs due to the suspension device 70, the steering operation by the steering device 90 can be smoothly performed.

At least a pair of ground running wheels 40 provided on the front side of the main body 10 among the ground running wheels 40 are connected to the vertical rotation axis C2 of the respective traveling device connecting arms 12 The front end and the rear end can be rotatably provided.

The connecting portion of each of the steering rods 94 to the ground running wheel 40 may be set as an eccentric portion spaced apart from the vertical axis of rotation of the traveling device connecting arm 12. [ Preferably, the steering device 90 having the steering rod 94, the connecting rod 992 and the steering motor 91 is connected to the vertical rotation shaft (not shown) of the traveling device connecting arm 12 C1 and the center C1 of the main body 10. [0060] So as to prevent the entire center of gravity of the product from being dispersed by designing the steering device 90 as close to the center C1 of the main body 10 as possible.

Thus, when the steering motor 91 is operated by the application of the control signal to rotate the other end of the connecting rod 92 to one side (left side in the figure) about one end, the steering rod 94 is moved to the left, The traveling direction can be changed by moving the front ends of the ground running wheels 40 provided on the left and right sides simultaneously to the right on the vertical rotation axis C2 of the traveling device connecting arm 12. [

Although not shown in the drawings, the steering apparatus 90 includes a pair of steering motors 91 and a pair of connecting rods 92 spaced apart from each other in the left and right directions in a rectangular frame structure 10b of the main body 10, It is also possible to design a steering system so as to achieve stable steering by driving a pair of steering motors 91 simultaneously.

Meanwhile, a preferred embodiment of the hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention may further include a control unit for remotely controlling ground running and air flight of the main body 10.

The controller may be a GCS (Global Positioning System) device which can be controlled by a PC, not a joystick, via a wireless connection such as Bluetooth, Wi-Fi, Long Term Evolution (LTE)

9 is an operation diagram illustrating an operation example of a hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention.

The control unit further includes a microprocessor (not shown) provided in the main body 10, and remotely applies a control signal to the main body 10 by using wireless communication.

It is possible to control the rotational direction and the rotational speed of the steering motor 91 of the driving motor 51 or the rotor 20 and the steering device 90 in accordance with the applied control signal to enable ground running and air flight.

As described above, the hybrid unmanned aerial vehicle according to the preferred embodiment of the present invention has a structure capable of running on the ground, so that it can be grounded when necessary, and can be moved to a desired place through ground running .

In particular, as shown in FIG. 9, the ground-running wheel 40 is driven to run on a ground where airborne obstacles are not possible due to a large number of obstacles, so that the vehicle can be quickly moved to a desired place regardless of the flying environment and conditions.

In addition, since the hybrid unmanned aerial vehicle according to the preferred embodiment of the present invention is capable of traveling on the ground, it can move to a desired destination while reducing air flight having a large energy consumption, and thus energy savings effect can be expected.

In particular, as shown in Fig. 9, the ground running is performed in a place where the ground running is possible, and the rotor 20 is driven only when there is a ground obstacle such as a swamp, a forest, And thus can significantly reduce the energy required for air flight.

In addition, the energy required for aerial flights is significantly reduced, which minimizes the consumption of the battery, thereby greatly increasing the travel distance.

A preferred embodiment of the hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention has been described in detail with reference to the accompanying drawings. However, it should be understood that the embodiments of the present invention are not necessarily limited to the above-described preferred embodiments, and that various modifications and equivalents may be made by those skilled in the art something to do. Therefore, it is to be understood that the true scope of the present invention is defined by the following claims.

10: main body 12: traveling device connecting arm
20: rotor 21: propeller
30: ground traveling device 31: mounting plate
32: through hole 33: outer ring
34: Inner wheel 40: Ground running wheel
42: fixed wheel 44:
50: driving means 51: driving motor
53: constant velocity joint 55: rotating shaft
57: sprocket gear 70: suspension
71: moving rod 73: installation groove
75: suspension spring 80: drive means fixing portion
81: Inner fixing bracket 83: Rotary bearing
85: Outside fixing bracket 90: Steering device
91L, 91R: steering motors 92L, 92R: connection rods
93: interlocking rod 94: steering rod
95: Ball joint

Claims (6)

A body disposed in the middle to form a skeleton and having a traveling device connecting arm extending outward at four corner portions;
A plurality of ground running wheels each connected to the traveling device connecting arm so as to enable ground running;
A lift generating device provided on the ground running wheel to fly the main body over the ground;
Driving means for driving the ground running wheel;
A suspension provided on the ground running wheel and absorbing a road surface impact transmitted from the ground during the ground running of the main body; And
Further comprising: a steering device for changing a running direction of the main body during ground running,
The steering apparatus includes:
A steering rod having one end connected to a pair of ground running wheels provided to the right or left of the front or rear side of the main body;
A connecting rod which is connected to the other end of the steering rod and moves the steering rod to the left or right so as to rotate the pair of ground running wheels around a portion to which the traveling device connecting arm is connected as a rotating shaft; And
And a steering motor that rotates one end of the connecting rod to the left or right with respect to the other end of the connecting rod, the other end of which is connected to the steering rod. The method according to claim 1,
The suspension device includes:
A moving rod connected to the traveling device connecting arm to support a load of the main body; And
And a suspension spring which is provided in an installation groove of the ground running wheel and supports an upper end portion of the moving rod and a lower end portion of which is elastically supported by the installation groove. delete The method according to claim 1,
Wherein the steering motor and the steering rod and the connecting rod are provided in pairs so as to be respectively engaged with either one of left and right of the pair of ground running wheels,
Wherein the steering apparatus further comprises an interlocking rod connected to the other end of the connecting rod for interlocking the pair of steering rods. The method according to claim 1,
Wherein both ends of the steering rod are ball-jointed to the ground running wheel so as to absorb a height difference generated when the main body moves relative to the ground running wheel by the suspension device, and a hybrid non- . The method according to claim 1,
Wherein the ground running wheel is provided with a front end and a rear end rotatable about a vertical rotation axis with respect to the traveling apparatus connecting arm,
Wherein the steering device is capable of traveling and flying between a vertical rotation axis of the traveling device connecting arm and the center of the main body.

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