WO2018216825A1

WO2018216825A1 - Hybrid unmanned aerial vehicle capable of driving and flying

Info

Publication number: WO2018216825A1
Application number: PCT/KR2017/005297
Authority: WO
Inventors: 백정현; 유완종; 홍성화
Original assignee: 주식회사 케이엠씨로보틱스
Priority date: 2017-05-22
Filing date: 2017-05-22
Publication date: 2018-11-29

Abstract

The present invention relates to a hybrid unmanned aerial vehicle capable of driving and flying, particularly comprising: a main body which is arranged at the center so as to form a frame and has driving apparatus connection arms extending outwardly from four corner areas; a plurality of wheels for driving on the ground, each connected to a driving apparatus connection arm, for enabling driving on the ground; lift generation apparatuses provided on the wheels for driving on the ground, for flying the main body in the air; and driving means for driving the wheels for driving on the ground, wherein the driving means are provided to deliver a predetermined rotational force, generated from driving motors provided in the main body, to the wheels for driving on the ground connected via constant-velocity joints, thereby enabling stable driving on the ground and flying in the air by preventing dispersion of the center of gravity.

Description

Hybrid unmanned aerial vehicle capable of driving and flying

The present invention relates to a hybrid unmanned aerial vehicle capable of driving and flying, and more specifically, by configuring the ground to be able to travel as needed, where it is impossible to fly in the air where it is possible to move to the desired place through the ground, and also the ground The present invention relates to a hybrid unmanned aerial vehicle capable of traveling and flying by minimizing the time of aerial flight by allowing the user to move to a desired place through driving, thereby reducing the energy required for the aerial flight.

Recently, various Umann Unmanned Aerial Vehicles (UHVs), called "Drones", have been developed in various ways. There is a multicopter.

In particular, the quadcopter has four rotors installed vertically, and a plurality of propellers are radially connected to each rotor and independently controlled by controlling the rotational speed and the rotational direction of each rotor. It is configured to adjust attitude and flight direction.

Such a conventional drone has a disadvantage in that it cannot enter a part where aerial flight is impossible due to many air obstacles. For example, there are disadvantages in that it is impossible to enter a forest with many trees, a lot of electric wires and narrow alleys.

And there is a problem that the use is limited because of these shortcomings, the drawback that the utilization is poor because of these problems are pointed out.

In addition, the conventional unmanned aerial vehicle has a disadvantage in that a lot of energy is consumed to fly in the air by driving the rotor, and because of this disadvantage, there is a problem in that the battery is consumed early to shorten the flight time.

And because of this problem, the travel distance is short, use is limited.

The present invention has been made in order to solve the above technical problem, the object is, by configuring the ground to be able to travel if necessary, in the place where the air flight is impossible to travel and fly to the desired place through the ground driving It is possible to provide a hybrid unmanned aerial vehicle.

Another object of the present invention, by being configured to move to the desired place through the ground driving in the place where the air flight is impossible, it is possible to move quickly to the desired place irrespective of the flight environment and conditions, thereby driving a very high utilization To provide a hybrid drone capable of flying and flying.

Another object of the present invention, by configuring to move to the desired place through the ground driving, it is possible to minimize the air flight time, thereby reducing the energy required for the air flying through the hybrid drone capable of driving and flying To provide an aircraft.

Another object of the present invention, by configuring to reduce the energy required for air flight can minimize the consumption of the battery, through which, a drone hybrid capable of flying and driving that can significantly increase the travel distance To provide.

Still another object of the present invention is to provide a hybrid unmanned aerial vehicle capable of flying and driving, which allows a stable aerial flight by resolving an imbalance during flight by concentrating the center of gravity to a central portion.

One preferred embodiment of the hybrid unmanned aerial vehicle capable of driving and flying according to the present invention includes: a main body having a traveling device connecting arm disposed in the center thereof to form a skeleton and extending outward from four corner portions; A plurality of ground running wheels, each connected to a connecting arm and provided to enable ground driving, a lifting device provided on the ground running wheels to fly the main body, and driving means for driving the ground running wheels. It includes, The drive means, Delivers a predetermined rotational force generated from the drive motor provided in the main body to the ground running wheels connected by the constant velocity joint.

Another embodiment of the hybrid unmanned aerial vehicle capable of traveling and flying according to the present invention includes a main body having a traveling device connecting arm disposed in the center thereof to form a skeleton and extending outward at four corner portions, and connecting the traveling device to the traveling device. A plurality of ground running wheels each connected to the arm and provided to enable ground driving, a lift generating device provided on the ground running wheels to fly the main body, and driving means for driving the ground running wheels; It includes, the drive means, the plurality of ground driving wheels are provided in plurality to drive each of the two ground driving wheels provided in the front or rear of the plurality, respectively, the vertical center of each of the plurality of ground running wheels It may be provided in the ground wheel portion close to the vertical center axis of the main body based on the axis.

According to the present invention, the hybrid drone capable of driving and flying, since the structure is provided with a ground running device, it is possible to drive the ground as needed, through which, there is an effect that can move to the desired place through the ground driving.

In particular, there are a lot of air obstacles to fly in the ground where it is impossible to fly, there is an effect that can move quickly to the desired destination regardless of the flight environment and conditions.

In addition, since the structure is capable of driving on the ground, it can move to a desired place while reducing the air consumption, which consumes a lot of energy, thereby saving energy.

In particular, it is necessary to move by using ground traveling where energy consumption is low and to fly only when there are ground obstacles such as swamps, forests, and buildings. There is an effect that the energy can be significantly reduced.

In addition, since it is possible to reduce the energy required for the air flight, it is possible to minimize the consumption of the battery, thereby having an effect that can significantly increase the travel distance.

In addition, the structure is designed to focus the center of gravity as a whole has the effect of enabling a stable flight during the flight.

In addition, since the course direction can be actively changed by the steering means when driving on the ground has the effect of improving the ability to cope with obstacles.

1 is a perspective view showing a hybrid drone capable of driving and flying according to the present invention;

2 is a cross-sectional view of FIG.

3 is a side view of FIG. 1,

4 is a cross-sectional view taken along the line A-A of FIG.

5 is a partially exploded perspective view and a partially enlarged view of FIG. 1;

6 is a front view of FIG. 5,

7 is a perspective view of the hybrid drone capable of traveling and flying according to the present invention from below;

8 is a cross-sectional view showing a steering means of the configuration of FIG.

9 is an operation diagram showing an operation example of a hybrid drone capable of driving and flying according to the present invention.

Hereinafter, a preferred embodiment of a hybrid drone capable of driving and flying according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a hybrid unmanned aerial vehicle capable of driving and flying according to the present invention, FIG. 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 line AA of FIG. 2. to be.

First, prior to looking at the features of the present invention, a brief look at the unmanned aerial vehicle with reference to FIGS. Hereinafter, a quadcopter will be described as an example of an unmanned aerial vehicle.

The unmanned aerial vehicle includes a main body 10. The main body 10 may be a portion that performs a function of forming a center skeleton of the hybrid unmanned aerial vehicle according to the present invention, and may include a rectangular frame structure 10b having a predetermined thickness.

Inside the rectangular frame structure 10b, a driving motor 51 and a steering device 90 to be described later may be connected, or a battery installation unit (not shown) in which a battery (not shown) may be installed. Furthermore, various sensors, satellite navigation devices (GPS), wireless communication devices, control units, etc. may be installed in the rectangular frame structure 10b.

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

The main body 10 may further include a mounting plate 10a which is disposed on the upper surface of the rectangular frame structure 10b and provides a mounting place on which business equipment (not shown) is mounted. The upper portion of the mounting plate (10a) is equipped with a variety of business equipment equipped with recording means, recording means, measuring means (sensors) and the like can collect information.

The main body 10 may further include a traveling device connecting arm 12 disposed at each corner portion of the rectangular frame structure 10b and horizontally extending in the outer diagonal direction and then bent in the left and right directions, respectively. have.

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

More preferably, the traveling device connecting arm 12 may be integrally formed to include the left end or the right end of the rectangular frame structure 10b, respectively. In addition, the traveling device connecting arm 12, the front end and the rear end corresponding to the corner portion of the rectangular frame structure 10b is horizontally extended in the outward oblique direction as described above and then bent in the left and right directions, respectively, and horizontally extended. It may be provided with a left traveling device connecting arm 12 and a right traveling device connecting arm 12. Here, the front and rear ends corresponding to the corner portions described above are connected in separate frames, or by using the bottom plate and the mounting plate 10a as described above, and firmly fixed up and down in a rectangular frame structure 10b and It is also possible to configure the traveling device connecting arm 12 simultaneously.

The traveling device connecting arm 12 is provided at 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.

In addition, as shown in FIGS. 1 to 4, the ground running apparatus 30 may be connected to each of the front end portions of the traveling device connecting arm 12.

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

As described above, the ground running wheels 40 are provided at the front end portions of the four traveling device connecting arms 12, which are provided in total, and the four ground running wheels 40 are provided in total. It takes the form connected to the four corners of the main body 10.

In particular, the ground wheels 40 are installed in pairs on the left and right, and the pair of ground wheels 40 thus installed are installed side by side in the front and rear directions of the main body 10.

On the other hand, these ground running wheels 40, the ring type (Ring type) fixed wheel 42 is fixedly installed on the front end of the traveling device connecting arm 12, and rotatably around the fixed wheel 42 It may be provided with a ring-shaped rotating wheel 44 is installed.

5 is a partially exploded perspective view and a 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 from below. 7 is a cross-sectional view showing steering means in the configuration of FIG.

As shown in FIG. 5, the fixed wheel 42 may include an outer ring 33 forming an outer frame, and an inner ring 34 forming an inner frame.

The outer ring 33 and the inner ring 34 may be interconnected by a plurality of guide rollers 46 to be described later, as well as by a plurality of connecting bolts 36.

The outer ring 33 and the inner ring 34 are provided to be spaced apart from each other by a predetermined distance, and a predetermined mounting space is provided between the outer ring 33 and the inner ring 34, and in the predetermined mounting space formed by the outer ring 33 and the inner ring 34, The suspension device 70, the driving means fixing part 80, and the

lift generating device

20 and 21, which will be described later, including the above-described rotating wheel 44, may be installed. This will be described in detail in the corresponding site.

A plurality of guide rollers 46 are provided on the outer circumferential side of the fixing wheel 42 (that is, the portion where the outer circumferential ends of the outer ring 33 and the inner ring 34 are connected to each other) at a predetermined angle in the circumferential direction. The plurality of guide rollers 46 serve to support the inner surface of the rotary wheel 44 and guide the rotation of the rotary wheel 44 which is rotatably provided on the outer circumferential surface side of the fixed wheel 42. It plays a role.

As shown on the left side of FIG. 4, the rotary wheel 44 has a ring-shaped rack gear part engaged with a gear value of a sprocket gear 57, which is one of the configurations of a driving means fixing part 80, which will be described later in part of its thickness. 44 'may be provided, and the rest of the thickness may be formed to be smooth, and may be configured as a rotation support portion 44 "supporting the outer circumferential surfaces of the plurality of guide rollers 46.

In addition, when the rotary wheel 44 is fixed to the fixed wheel 42, the maximum outer diameter of the rotary wheel 44 is the maximum outer diameter of the fixed wheel 42 so that the outer peripheral surface is exposed to the outside of the fixed wheel 42 It is desirable to form larger than.

The plurality of guide rollers 46 are provided between the fixed wheels 42 and the rotary wheels 44, and a plurality of guide rollers 46 are provided at regular intervals in the circumferential direction, and the plurality of guide rollers 46 are the rotary wheels 44. It serves to facilitate the smooth rotation of the rotary wheel 44 while in contact with the rotary support portion 44 "of the inner circumferential surface.

In the present embodiment, the rotary wheel 44 is supported by the fixed wheel 42 as a whole, but is not limited thereto. For example, the fixed ring 42, particularly the outer ring 33 forming the outer bone force is a circular frame structure, but may be a semi-circular frame structure in which a part of the portion that does not touch the ground is removed. Accordingly, the inner ring 34 may also be formed only inside the outer ring 33 of the semi-circular frame structure. By changing this frame shape, the overall weight of the drone can be reduced.

The inner side of the ground running wheel 40, as shown in Figures 1 to 4, to enable the installation of the drive means fixing portion 80 and the

lifting device

20, 21 to be described later and at the same time each operation It is preferable that a predetermined space is formed for this purpose.

To this end, an installation plate 31 which is formed in a substantially "T" shape on the inner side of the ground running wheel 40 and connects the inner circumferential surface of the fixed wheel 42 may be provided. The mounting plate 31 is disposed so that the pair is spaced apart from each other so as to connect the inner circumferential surface of each of the outer ring 33 and the inner ring 34, the suspension device 70, which is described later in the space between the space, the drive means fixing portion 80 may be installed.

Through holes 32 are formed at both left and right sides of the installation plate 31 to penetrate in the left and right directions, thereby reducing the weight of the product.

One preferred embodiment of the hybrid unmanned aerial vehicle capable of driving and flying according to the present invention may further include a driving means 50 for driving the ground running wheels 40, as shown in FIGS. 1 to 5. Can be.

As shown in FIG. 2, the driving means 50 is provided between the rectangular frame structure 10b of the main body 10 to generate a predetermined rotational force, and the driving motor 51 of the driving motor 51. It may include a rotary shaft 55 and a sprocket gear 57 that is rotated in connection with the end of the rotary shaft 55 to transmit a predetermined rotational force while being directly connected to the rotary shaft.

The driving means 50 may further include a shaft housing (not shown). The shaft housing communicates the main body 10 and the wheels 40 for driving on the ground, and the rotation shaft 55 may be built therein to protect the rotation shaft 53 from the outside.

Rotating shaft 55, but may be provided in the form of a straight line, at least one time between the two ends is cut off so as to change the power transmission angle, the disconnected portion is connected by the constant velocity joint 53 is adopted Can be.

this is. The height of the main body 10 provided with the drive motor 51 is different from the installation height of the ground running wheels 40 of the drive means fixing part 80, which will be described later, and finally the sprocket gear receiving a predetermined rotational force This is because the power transmission shafts are mutually staggered because the rotational axis of 57 is a horizontal axis on the left and right.

Four such driving motors 51 may be provided to independently transmit power to each of the ground driving wheels 40, and one driving motor 51 may be forward of the ground driving wheels 40. Simultaneously transmits power to a pair of ground running wheels 40 located in the other, the other driving motor 51 is a pair of ground running wheels located behind the ground wheels 40 It can be configured as two front and rear to simultaneously transmit power to the (40) pair.

However, in one preferred embodiment of the present invention, as shown in Figs. 2 and 5, two drive motors 51 are respectively provided on a pair of ground running wheels 40 located at the front or rear side. It demonstrates as provided so that it may become involved.

For example, as described with reference to FIGS. 1 to 5, a pair of driving wheels 51 are located on the rear side of the plurality of ground driving wheels 40, and a pair of ground running wheels 40 When each is provided to transmit power to the pair, the main body 10 may have the advantage that can be grounded forward in the rear wheel drive method.

On the contrary, when the pair of drive motors 51 are provided to transmit power to each of the pair of ground running wheels 40 located on the front side of the plurality of ground running wheels 40, the main body 10 ) May have the advantage that can be grounded forward in the front wheel drive method.

In a preferred embodiment of the present invention, by installing the drive motor 51 on the main body 10 side as far as possible from the ground running baggage 40 side, the overall center of gravity is concentrated in the center of the product, the air It is possible to balance the fuselage which has the greatest impact on stability during flight.

That is, an embodiment in which the driving motor 51 is separately installed on each of the wheels 40 for ground driving as shown in FIGS. 5 to 8 can be expected, but in this case, the driving motor ( The center of gravity may be distributed to the outside of the main body 10 due to the provision of each of the 51), and in this case, the fuselage may be easily eccentrically to one side under wind direction or various flight environments, which may cause a lot of problems of falling. have.

In addition, even when the drive motor 51 is installed separately on each of the ground wheels 40, as shown in Figs. It is preferable to be installed at one portion of the ground running wheel 40 close to the center vertical axis C1 of the main body 10 with respect to the center vertical axis C2 of the ground running wheels 40 so as to be concentrated in the center of the product.

In this case, it will be obvious that the driving means 50 should be provided at an optimal position at which the ground running wheels 40 are rotationally driven by the sprocket gear 57. That is, as will be described later, it is obvious that the driving means 50 should be provided at a position where the sprocket gear 57 and the ring-shaped rack gear portion 44 'of the rotary wheel 44 can be stably assembled with each other.

On the other hand, a preferred embodiment of the hybrid drone capable of traveling and flying according to the present invention, the driving means fixing unit 80 for fixing the driving means 50 to the ground running wheels 40, respectively further comprising Can be.

5 and 6, the driving means fixing part 80 is provided inside the wheel 40 for driving on the ground, and the driving means 50 including the sprocket gear 57 includes an inner wheel ( 34 extends the inner fixing bracket 81 for supporting the penetrating member 34 and the constant velocity joint 53 interposed in the inner fixing bracket 81 and substantially connected to the distal end of the rotation shaft 55 of the driving means 50. An inner rotary bearing 82 for supporting the end of rotation, an outer fixing bracket 85 provided outside the ground running wheel 40 to support an end of the rotation shaft 57a of the sprocket gear 57, and an outer fixing It may include an outer rotary bearing (83) interposed inside the bracket (85) to substantially support the rotation shaft (57a) of the sprocket gear (57).

Here, the extension end of the constant velocity joint 53 is disposed to penetrate the inner rotation bearing 82 before penetrating the inner ring 34, and the extension end of the constant velocity joint 53 through which the inner rotation bearing 82 penetrates. It is configured to support the rotation.

In addition, the end of the rotation shaft of the sprocket gear 57 is provided to protrude a predetermined length to the outside through the outer ring 33, the outer fixing bracket 85 is provided with an outer rotation bearing 83 on the outer side of the outer ring (33) Interposed in the structure is configured to support the rotary shaft end of the sprocket gear 57.

Therefore, the driving means fixing portion 80, and the driving means 50 is rotatably fixed to the inside of the ground wheel 40, respectively using the inner fixing bracket 81 and the inner rotary bearing 82, and At the same time, the outer side of the ground wheel 40 is fixed to the outside by using the outer fixing bracket 85 and the outer rotation bearing 83 so as to rotate, the driving means 50 in and out of the ground wheel 40 for balance. Fix it.

Thus, by preventing the fastening force by the eccentric weight of the drive means 50 is weakened, by reducing the fastening force of the sprocket gear 57 and the ring-shaped rack gear portion 44 'reduce the defective rate of the product due to the engagement force. Can be.

Here, it is preferable that the driving means fixing part 80 is provided at a position where the vertical height difference 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. .

Preferably, as shown in FIG. 8, the driving means fixing part 80 may be provided at an end closer to the center C1 of the main body 10 among the upper ends of the installation plate 31.

As a result, the driving force of the driving means 50 may be easily transmitted, and a predetermined weight may be concentrated at the center C1 of the main body 10, thereby deriving an advantage of enabling stable ground driving and air flight.

On the other hand, the sprocket gear 57 of the configuration of the drive means 50 is engaged with the ring-shaped rack gear portion 44 ', when the drive motor 51 is operated in accordance with the control signal applied, the drive motor 51 The driving force of is transmitted to the sprocket gear 57 via the rotation shaft 55, the ring-shaped rack gear portion 44 'is transmitted to the driving force rotates the rotary wheel (44).

At this time, since the maximum outer diameter of the rotary wheel 44 is formed larger than the maximum outer diameter of the fixed wheel 42, the main body 10 can be grounded while rolling along the ground. As a result, the hybrid unmanned aerial vehicle according to the present invention can travel forward or backward along the ground.

On the other hand, a preferred embodiment of the hybrid unmanned aerial vehicle capable of driving and flying according to the present invention, as shown in Figures 1 to 4, the suspension device 70 for absorbing the road surface shock transmitted from the ground during the ground driving It may further include.

As shown in FIGS. 1 to 4, the suspension device 70 is interposed between a moving rod 71 supporting a load of the main body 10 and an outer circumferential surface of the moving rod 71, and a lower end portion of the suspension wheel 70. Suspension spring 75 is elastically supported in the installation groove 73 formed in the mounting plate 31 of the 42.

Here, the moving rod 71 is formed integrally with the arm engaging portion 25 to which the leading end of the traveling device connecting arm 12 is coupled, and the road surface while receiving the elastic support of the suspension spring 75 in the installation groove 73. It is a structure that absorbs shock while moving up and down when it receives an impact from it. That is, the suspension device 70 may be provided as a shock absorber.

On the other hand, the lifting

unit

20, 21 may be installed on the upper portion of the arm coupling portion (25).

Lifting

device

20, 21, as shown in Figures 1 to 4, is provided with a motor that is electrically driven, the rotor 20 provided to form a vertical axis up and down, and radially to the rotor 20 It may include a plurality of propellers 21 are formed and hydrodynamically hit the air to generate lift.

Lifting device (20, 21), when the control signal is applied, the rotor is rotated while the motor 20, a plurality of propellers 21 are rotated to support the main body 10 to the air or each motor By controlling the rotational speed of the aircraft, it is possible to fly in various directions.

The four rotors 20 preferably have their respective rotational axes disposed directly above the tip of the travel connecting arm 12, more preferably the four rotors 20 are balanced and stable flight of the body 10. It is preferable to form a horizontal horizontal plane so that this is possible.

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

On the other hand, when driving on the ground, the driving means 50, as described above, is provided on each of the ground driving wheels 40, it is controlled to travel forward or backward, respectively, in accordance with the control signal can change the driving direction have.

The unmanned aerial vehicle according to the present embodiment may further include a steering device 90 that changes the driving direction when the vehicle is driven on the ground.

6 to 8, a steering rod having one end connected to a pair of ground running wheels 40 provided left and right on the front side or the rear side of the main body 10. A steering rod which is connected to the other ends of the 94L and 94R and the

steering rods

94L and 94R, and rotates the pair of ground running wheels 40 to which the traveling device connecting arm 12 is connected as the rotating shaft.

Connecting rods

92L and 92R for moving the 94L and 94R to the left or the right side, and connecting

rods

92L and 92R which are ends of the connecting

rods

92L and 92R fixed and connected to the

steering rods

94L and 94R. Steering motors (91L, 91R) for rotating the other end to the left or right about one end.

The

steering motors

91L and 91R are preferably provided as servo motors for rotating the other ends of the connecting

rods

92L and 92R to the left or the right side with respect to one end in accordance with a control signal for steering.

Here, the

steering motors

91L and 91R, the

steering rods

94L and 94R, and the connecting

rods

92L and 92R are provided only at any one of the left and the right of the pair of ground running wheels 40 provided on the front side. Each pair may be provided to engage.

This is to prevent steering failures that may be generated by the steering force transmitted from one

steering motor

91L, 91R to all of the pair of ground cast wheels 40.

6 and 7, the steering device 90 is connected to the other end of the connecting

rods

92L and 92R provided as a pair to be spaced apart by a predetermined distance to connect the pair of

steering rods

94L and 94R. It may further include an interlocking rod 93 for interlocking.

Therefore, steering force is generated from the two

steering motors

91L and 91R, respectively, but the pair of

steering rods

94L and 94R are interlocked by the interlocking rod 93 so that the ground running wheels 40 can be driven with strong steering force at the same time. Can rotate

In addition, both ends of the steering rod 94 may be connected to the ground wheel 40 by a ball joint (95). This is to absorb the height difference generated when the ground running wheels 40 move upward and downward relative to the main body 10 by the suspension device 70.

More specifically, the ball joint 95 is connected to the ball receiving portion 95a provided at the other ends of the connecting

rods

92L and 92R and the connecting

rods

92L and 92R, as shown in FIG. 8. It is formed integrally with the other end of the steering rod (94L, 94R), it may include a ball (95b) accommodated in the ball receiving portion (95b).

Such a ball joint 95, it will be obvious that it is applied to the connection structure of one end of the steering rod 94 connected to the ground running wheels 40 as it is.

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

In addition, the pair of ground running wheels 40 provided on at least the front side of the main body 10 of the ground running wheels 40 are not shown in the vertical axis of rotation (C2) of each traveling device connecting arm 12 The front and rear ends may be rotatably provided around the center.

In addition, the connection portion for each of the ground running wheels 40 of the steering rod 94 may be set to an eccentric portion spaced apart with respect to the vertical axis of rotation of the traveling device connecting arm 12. Preferably, the steering device 90 comprising a steering rod 94, a connecting rod 992 and a steering motor 91 is a vertical axis of rotation of the traveling device connecting arm 12, as referenced in FIG. 8. It may be disposed between the C1 and the center (C1) of the main body 10. The steering device 90 is designed to be located as close to the center C1 of the main body 10 as possible to prevent the entire center of gravity of the product from being dispersed.

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 drawing) about one end, the steering rod 94 is moved to the left while The driving direction may be changed by simultaneously moving the front ends of the ground running wheels 40 provided on the left and right sides about the vertical rotational axis C2 of the traveling device connecting arm 12 to the right.

Although not shown in the drawing, the steering apparatus 90 is provided with a pair of steering motors 91 and a connecting rod 92 spaced apart from each other left and right on a rectangular frame structure 10b of the main body 10, and a control signal is applied thereto. If it is possible to drive a pair of steering motor 91 at the same time can be designed to achieve a stable steering.

On the other hand, a preferred embodiment of the hybrid unmanned aerial vehicle capable of driving and flying according to the present invention may further include a control unit of a not shown to remotely control the ground and aerial flight of the main body 10.

The controller may be provided as a GCS (Global Positioning System) device that can be adjusted by a PC instead of a joystick through a wireless connection such as the main body 10, Bluetooth, Wi-Fi, and Long Term Evolution (LTE).

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.

The driving direction of the driving motor 51 or the rotor 20 and the steering motor 91 of the steering apparatus 90 and the rotational speed of the steering apparatus 90 may be controlled according to the applied control signal, so that ground driving and aerial flight are possible.

As described above, the hybrid unmanned aerial vehicle according to the preferred embodiment of the present invention has a structure capable of driving on the ground, so that the ground can be driven as needed, and can be moved to a desired place through the ground driving. .

In particular, as shown in Figure 9, where there are a lot of air obstacles in the air is impossible to fly by driving the ground driving wheel 40 to the ground, it is possible to move quickly to the desired place irrespective of the flight environment and conditions.

In addition, since the hybrid unmanned aerial vehicle according to the preferred embodiment of the present invention is capable of driving on the ground, it is possible to move to a desired place even while reducing air consumption, which consumes a lot of energy.

In particular, as shown in FIG. 9, where the ground can be driven, the ground is driven with low energy consumption, and the rotor 20 is driven only when there are ground obstacles such as swamps, forests, buildings, and the like. It is possible to significantly reduce the energy required for airborne flight by configuring it to fly.

In addition, it is possible to significantly reduce the energy required for the air flight, it is possible to minimize the consumption of the battery, thereby significantly increasing the travel distance.

Or more, with reference to the accompanying drawings a preferred embodiment of a hybrid drone capable of driving and flying according to the present invention has been described in detail. However, the embodiment of the present invention is not necessarily limited to the above-described preferred embodiment, and it is natural that various modifications and equivalents can be made by those skilled in the art to which the present invention pertains. something to do. Therefore, the true scope of the present invention will be determined by the claims described below.

10: main body 12: travel device connecting arm

20: rotor 21: propeller

30: Ground traveling device 31: Mounting plate

32: through hole 33: outer ring

34: inner ring 40: ground running wheels

42: fixed wheel 44: rotating wheel

50: drive means 51: drive motor

53: constant velocity joint 55: rotating shaft

57: sprocket gear 70: suspension

71: moving rod 73: mounting 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 Motor

92L, 92R: Connecting Rod

93: interlock rod 94: steering rod

95: ball joint

Claims

A main body disposed in the center to form a skeleton, the main body having a traveling-connecting connecting arm extending outward from four corner portions;

A plurality of ground running wheels respectively connected to the traveling device connecting arms and provided to enable ground running;

Lifting device is provided on the ground traveling wheel for flying the main body; And

It includes a drive means for driving the ground running wheels,

The driving means is a hybrid unmanned aerial vehicle capable of traveling and flying to transmit a predetermined rotational force generated from the drive motor provided in the main body to the ground running wheels connected by the constant velocity joint.
The method of claim 1,

The drive means,

The driving motor installed at the main body;

A rotating shaft which is directly connected to the rotating shaft of the driving motor and transmits a predetermined rotating force; And

A hybrid unmanned aerial vehicle provided with the wheels for driving on the ground, the sprocket gear being connected to the end of the rotating shaft and rotated.
The method of claim 2,

The rotary shaft is a hybrid unmanned aerial vehicle capable of traveling and flying, at least one or more of which is disconnected between both ends, and the disconnected portion is connected by the constant velocity joint.
The method of claim 2,

The rotating shaft is a hybrid unmanned aerial vehicle capable of traveling and flying is built into the shaft housing for communicating the main body and the ground running wheels.
The method of claim 2,

The constant velocity joint is a hybrid unmanned aerial vehicle capable of traveling and flying provided in the rotation shaft when the rotation shaft of the drive motor and the rotation shaft of the sprocket gear are not coaxial.
The method of claim 2,

And a driving means fixing part for fixing the driving means to the ground running wheels.
The method of claim 6,

The ground running wheel includes a fixed wheel fixedly installed at the distal end of the traveling device connecting arm, and a rotating wheel rotatably installed along the circumference of the fixed wheel,

The fixed wheel includes an outer ring forming an outer skeleton, and an inner ring forming an inner skeleton,

The driving means fixing unit supports the driving means to penetrate the fixed wheels, the hybrid unmanned aerial vehicle capable of traveling and flying to support the inner and outer wheels, respectively.
The method of claim 7, wherein

The driving means fixing part,

An inner fixing bracket provided inside the ground running wheel and supporting the driving means to penetrate the inner ring;

An outer fixing bracket provided on an outer side of the ground running wheel and supporting an end of a rotation shaft of the sprocket gear; And

A hybrid unmanned aerial vehicle capable of driving and flying interposed inside the outer fixing bracket, the rotary bearing supporting a rotation shaft of the sprocket gear.
A main body disposed in the center to form a skeleton, the main body having a traveling-connecting connecting arm extending outward from four corner portions;

A plurality of ground running wheels respectively connected to the traveling device connecting arms and provided to enable ground running;

Lifting device is provided on the ground traveling wheel for flying the main body;

Driving means for driving the ground running wheels; And

A hybrid unmanned aerial vehicle provided with the wheels for driving on the ground and including a suspension device that absorbs a road surface shock transmitted from the ground during the ground driving of the main body.
The method of claim 9,

The suspension device,

A moving rod connected to the traveling device connecting arm to support the load of the main body; And

The hybrid unmanned aerial vehicle capable of traveling and flying provided in an installation groove provided in the ground running wheel, and having an upper end supporting the moving rod and a lower end elastically supported by the installation groove.
The method of claim 9,

Further comprising a steering device for changing the driving direction when the ground running of the main body,

The steering device,

A steering rod whose one end is connected to a pair of ground running wheels provided on the front or rear side of the main body from side to side;

A connecting rod which is connected to the other end of the steering rod and moves the steering rod to the left or to the right to rotate the pair of ground running wheels with the rotating shaft at a portion to which the traveling device connecting arm is connected;

And a steering motor configured to rotate one end of the connection rod and the other end of the connection rod, which is a portion connected to the steering rod, to the left or right about the one end.
The method of claim 11,

The steering motor, the steering rod and the connecting rod are provided in pairs so as to engage in only one of the left and right sides of the pair of ground running wheels, respectively.

The steering apparatus further includes a linkage rod connected to the other end of the connection rod to link the pair of steering rods.
The method of claim 11,

Both ends of the steering rod, the hybrid unmanned aerial vehicle capable of traveling and flying ball joint coupled to the ground running wheels to absorb the height difference generated when the main body relative to the ground running wheels by the suspension device. .
The method of claim 11,

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 device connecting arm,

The steering apparatus is a hybrid unmanned aerial vehicle capable of traveling and flying positioned between the vertical rotation axis of the traveling device connecting arm and the center of the body.