AU2018302695A1

AU2018302695A1 - An aerial vehicle, advantageously a multicopter with a swingable arm mount

Info

Publication number: AU2018302695A1
Application number: AU2018302695A
Authority: AU
Inventors: Hans Petter Førde; Leif Johan Holand; Jan Martin Nysæter
Original assignee: Griff Aviation As
Current assignee: Griff Aviation As
Priority date: 2017-07-17
Filing date: 2018-07-16
Publication date: 2020-01-16
Also published as: KR102497731B1; CA3068180A1; CN111278732A; NO343743B1; JP7130681B2; JP2020527498A; KR20200031077A; EP3655319A1; NO20171194A1; WO2019017794A1

Abstract

An aerial vehicle (AV) comprises a body (10) and a plurality of lift generating means (61A,B, 62A,B). Each lift generating means being supported by, and connected to the body (10) via a respective arm assembly (20A,B); wherein the arm assembly is movable between a retracted position and an extended locked and releasable position. Said arm assemblies (20A,B) are arranged in pairs, and each arm assembly pair is interconnected via a central spindle (30) that is rotatably attached to the body (10).

Description

AN AERIAL VEHICLE, ADVANTAGEOUSLY A MULTICOPTER WITH A SWINGABLE ARM MOUNT Field of the invention

The present invention relates to an aerial vehicle (AV), more specifically a multicopter operable as a remotely controlled drone, as specified in the preamble of claim 1.

Background of the invention

The prior art includes KR 10-1527544 BI, which discloses a foldable drone capable of reducing its size when its rotor arms are folded when the drone is not in use. Multiple io arms are provided between a top plate and a bottom plate of the airframe, and a rotor having a propeller by a motor is provided at a free end of each arm. One pair of frontal connection units and one pair of rear connection units are provided at both front and rear sides of the top and bottom plates. The width of the frontal connection unit is greater than that of the rear connection unit, thereby al lowing the frontal and rear arms to be folded is side by side not overlapping with each other.

Summary of the invention

An object of the present invention is to provide a rotor-wing multicopter type AV with a plurality of motors, advantageously operable as a drone, and designed to carry fixed and slinged heavy cargo loads, advantageously heavy loads in a range of from about 300kg to about 500kg.

The inventors have in the development of the invention found that by positioning upper and lower engines and propellers in an arrangement of bracket arms illustrated and described herein, and with upper and lower engines and propellers turning in opposite directions, momentary rotations are advantageously avoided. The Switch-And-Lock system is a mechanism that enables easy, fast modification of the UAV, in particular to accommodate fast deployment. The rotor arms can be easily unfolded by swinging from a retracted position to a safely locked extended position for flight, or be rapidly folded by swinging the rotor arms in toward the airframe of the AV for easy and compact transportation. The AV of the invention enables also the option to choose the optimal number of rotors to be engaged at all times for increased flight time or maximum lifting

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PCT/N02018/050190 capability. The switching mechanism advantageously comprises a central spindle that is rotatably attached to the airframe of the AV. Pairs of rotor arms are advantageously attached to respective first and second ends of the central spindle.

The locking mechanism consists of a spring loaded locking cotter pin that slides into the central spindle on predefined rotation angles of the rotor arms.

The invention provides a swingable arm mount for an aerial vehicle having a lift generating means, the aerial vehicle being advantageously a multicopter, according to the io specification provided in the accompanying patent claim 1.

It is thus provided an aerial vehicle, comprising a body and a plurality of lift generating means; each said lift generating means being supported by, and connected to the body via, a respective arm assembly; wherein the arm assembly is movable between a retracted is position and an extended locked and releasable position, characterized in that said arm assemblies are arranged in pairs, and that each arm assembly pair is interconnected via a central spindle that is rotatably attached to the body.

In one embodiment, each arm assembly pair form upper and lower arms that are mounted on the body at a same comer portion and are joined to each other by said swing spindle, and the spindle is journaled in a respective pair of upper and lower arm attachment brackets, thereby forming swingable arm pair which is swingable between said extended and retracted arm positions.

The aerial vehicle may further comprise respective covers attachable to the body at each of said corner portion so as to provide at least protection for the swing spindle and their journaling arrangement in the respective pairs of the upper and lower arm attachment brackets .

The aerial vehicle may further comprise openings in each the upper and lower arm attachment brackets, located on opposite sides of the large circular openings in which the swing spindle is to be received, accommodate for screws that fit into corresponding openings at upper and lower ends of the cover for affixing the cover to the upper and lower arm attachment brackets, whereby the cover serves to maintain and fix a separation

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PCT/N02018/050190 of the associated parts of the upper and lower arm attachment brackets.

The aerial vehicle may further comprise a swing lock arrangement configured for each spindle to keep an arm pair locked in at least one of the extended and retracted positions.

In one embodiment, the spindle comprises a hollow portion and comprises upper and lower openings in the hollow portion for running control, power, or fuel lines between the swing spindle and items mounted on respective ones of upper and lower arms, and upper and lower central openings in the hollow swing spindle for running said control, power, io or fuel lines between the swing spindle and equipment disposed in the body.

In one embodiment, the spindle is a tubular swing spindle having a cam on at least a portion of a swing spindle circumference, first and second arm attachment brackets with openings for receiving and providing a journaling for respective first and second portions is of the swing spindle, first and second means for keeping the swing spindle in position in a gap between the first and second arm attachment brackets, and locking arrangement including a movable cotter pin arranged to be movable between a locking position with the cotter pin in level with the cam and disposed in a notch or valley of the cam and a release position not in level with the cam.

The aerial vehicle body may be a rectangular body, and an arm assembly pair be connected to each corner portion of said body.

Brief description of the drawings

In the following, the invention will be described by way of example and with reference to the accompanying drawings, in which:

Figure 1 is a first perspective view drawing illustrating an embodiment of a multicopter drone according to the invention;

Figure 2A is a second top perspective view photography illustrating the embodiment of a multicopter drone according to the invention illustrated in figure 1;

Figure 2B is a third side perspective view photography illustrating the embodiment of a multicopter drone according to the invention illustrated in figures 1 and 2A;

Figure 3 is an exploded view drawing illustrating components of an embodiment of a motor/propeller arm bracket arrangement comprised in the embodiment of a multicopter

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PCT/N02018/050190 drone according to the invention illustrated in figures 1, 2A, and 2B;

Figure 4 is a side perspective view partial assembly drawing illustrating the embodiment of a motor/propeller arm bracket arrangement illustrated in figure 3;

Figure 5A is a side perspective view partial assembly drawing illustrating an embodiment of a motor/propeller arm bracket swing and locking/releasing arrangement in the embodiment of a motor/propeller arm bracket arrangement illustrated in figures 3 and 4; Figure 5B is a side view partial assembly drawing illustrating the embodiment of a motor/propeller arm bracket swing and locking/releasing arrangement illustrated in figure 5 A; and io Figure 6 is an exploded view drawing illustrating components of the embodiment of a motor/propeller arm bracket locking/releasing arrangement illustrated in figures 5 A and 5B.

Detailed description of an embodiment of the invention

For simplicity, in the following a motor/propeller arm bracket is referred to as an arm, and a chassis or frame is referred to as a body.

Reference is first made to the drawing of figure 1, illustrating a complete rotor-wing multicopter according to the invention in a configuration with arms swung out from the body and locked, ready for flight. In this drawing is identified a substantially rectangular body 10, a plurality of upper arm attachment brackets 40A attached to the body so as to form upper corner portions the body rectangle, a plurality of lower arm attachment brackets 40B attached to the body so as to form lower comer portions the body rectangle, a plurality of upper arms 20A hinged to and extending upwards and outwards from respective ones of said respective upper portions of corners of the body rectangle, a plurality of lower arms 20B hinged to and extending downwards and outwards from respective ones of said lower portions of corners of the body rectangle, a plurality of upper motor supports 60A attached at respective ones outer ends of each of the upper arms 20A, a plurality of lower motor supports 60B attached at respective ones outer ends of the lower arms 20B, a plurality of upper motors 61A each with an upper motor driven propeller or rotor 62A and mounted on respective ones of the upper motor supports 60A,

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PCT/N02018/050190 and a plurality of lower motors 6 IB each with an lower motor driven propeller or rotor 62B and mounted on respective ones of the lower motor supports 60B. The body is arranged to carry at least power or fuel controller arrangement for controlling the power applied to drive rotation of the propellers. In a wireless embodiment, the body is also adapted to accommodate an source of power or fuel for the motors and the controller. The motors 61 A, 61B are advantageously electrical motors, and the source of power is an electric battery, a solar panel, or other means for providing or generating electrical power on-board the aerial vehicle of the invention. Each pair of upper 20A and lower 20B arms are mounted on the body at a same corner portion and are joined to each other by a swing io spindle (not shown in figure 1) that is journaled in a respective pair of the upper 40A and lower 40B arm attachment brackets, thereby forming swingable arm pair which is swingable between an extended arm position and a retracted arm position. A cover 50 attachable to the body is provided at each of said comer so as to provide at least protection for the swing spindle (not shown in figure 1) and their journaling arrangement is in the respective pairs of the upper 40A and lower 40B arm attachment brackets.

Reference is made to figure 2A, illustrating in a perspective view photography from above an embodiment of the AV of the invention. In this figure 2A, due to the perspective view point being slightly off center and to the left with respect to the body center, two sets of upper and lower arms of two arm pairs clearly distinguishable in the right hand part of the photo, while in the left hand side of the photo each of the upper arms substantially overlap with and hide most of the respective underlying arms of respective arm pairs leaving visible and clearly distinguishable only parts of the motors and their respective propellers or rotor blades of each respective arm.

Correspondingly as for figure 2A, in figure 2B, illustrating in a perspective view photography from the side of the embodiment of the AV of the invention shown in figure 2A, the body as well as each of the upper and lower arms substantially overlap with and hide most of the respective neighbouring upper and lower arms, respectively, leaving visible and clearly distinguishable only parts of the motors and their respective propellers or rotor blades of the arms most distantly located with respect to the camera position.

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Reference is made to figure 3, providing a first perspective exploded view illustration of components of the swingable arm arrangement in a AV according to the invention. In this embodiment, each of the upper 20A and lower 20B arms are formed by respective first and second arm halves locatable on respective extreme left and right hand sides of the drawing. A plurality of circular features on the arm halves indicate positions of fasteners for joining the arm halves to form the arms. In conjunction with circular features at inner portions of the arms are also drawn a first pair of adjacently located dotted lines to indicate circular features that represent positions for fasteners that at inner ends accommodate fasteners for attaching the arms of an arm pair to upper and lower portions io of the swing spindle 30, and in conjunction with circular features at outer portions of the arms are also drawn a second pair of adjacently located dotted lines to indicate circular features that represent positions for fasteners that at outer arm ends accommodate fasteners for attaching the arms of an arm pair to respective ones of upper 60A and lower 60B motor supports. Upper and lower portions of the centrally located swing spindle 30, is with a generally tubular form, fits into openings in respective large circular openings in respective ones of the upper 40A and lower 40B arm attachment brackets, which in turn are adapted to fit with a mounting arrangement on a corner of the body. A dotted line running through a longitudinal central axis of the swing spindle 30 and the large circular openings in the upper 40A and lower 40B arm attachment brackets indicate a vertical line along which these are to be assembled. Two smaller openings in each the upper 40A and lower 40B arm attachment brackets, located on opposite sides of the large circular openings in which the swing spindle is to be received, accommodate for screws that fit into corresponding openings at upper and lower ends of the cover 50 for affixing the cover to the upper 40A and lower 40B arm attachment brackets. Thereby, the cover 50 also serves to maintain and fix a separation of the associated parts of the upper 40 A and lower 40B arm attachment brackets. A swing lock arrangement, components of which are collectively indicated by the numeral 70, is provided for each swing spindle 30 to keep an arm pair locked in at least one of the extended and retracted positions.

Reference is made to figure 4, providing a first perspective view assembly illustration of components illustrated in figure 3 assembled into a swingable arm pair system ready for mounting on a body to form a AV according to the invention. In this assembly the upper

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60A and lower 60B motor supports are also provided with an upper motor 61A and a lower motor 6IB, respectively, and the pair of swingable arms 20A, 20B is positioned in a retracted position with respect to the upper 40A and lower 40B arm attachment brackets. The swing spindle lock arrangement 70 comprises a pair of upper 71A and lower 7 IB guide supports, a plurality of guide rods 72 having first and second ends adapted to be retained in bores in ends of respective ones of the upper 71A and lower 71B guide supports, a plate shaped cotter pin 73 with a plurality of parallel through holes adapted to receive respective ones of the of the guide rods 72 so as to provide back and forth sliding cotter pin 73 in a longitudinal direction of the guide rods 72 arranged in io parallel, a return spring 74, and an elongated release button 75. When assembled, and held in position between a pair of the upper 40A and lower 40B arm attachment brackets, sliding cotter pin 73 is slidable on the guide rods in a gap between the upper 71A and lower 7IB guide supports between a lock position and a release position, and generally held in the lock position by a spring arranged to urge the cotter pin to the lock position. In is the lock position of the cotter pin in the gap between the upper 71A and lower 71B guide supports, the cotter pin is level with a cam 34 (see figure 6) arranged on a central portion of the swing spindle 30, and a protruding end portion of the cotter pin is either riding on a side of the cam or is disposed in a notch in the cam. When in a notch of the cam, the spindle may be rotated until an edge of the cam abuts an edge of the cotter pin and at that point be blocked from further rotation by the cotter pin. The elongated release button is disposed within an associated one of the upper 71A and lower 71B guide supports that is at the opposite side of the plate shaped cotter pin with reference to the location of return spring 74, and has one end resting on or located adjacently to a facing surface of the cotter pin and an opposite end protruding out from its associated guide support. Hence, by applying a pushing force on the protruding end of the release button 75, in a direction against the force of the return spring 74, the cotter pin will slide along the guide rods to a position where it is no longer at level with the cam. When not at level with the cam of the swing spindle, there is no interaction between the cam and the cotter pin, and the swing spindle is free to rotate by its journaling in the large openings in the upper 40A and lower

40B arm attachment brackets. If the release button 75 is released while an elevated portion of the cam is facing the protruding end of the cotter pin, then the return spring 74 will make the cotter pin rest on and be forced against a side of the cam until the swing

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PCT/N02018/050190 spindle 30 has been rotated sufficiently for a cam notch to be positioned to allow the protruding end of the cotter pin to move again to the lock position in the gap between the upper 71A and lower 71B guide supports.

Reference is made to figure 5A, providing a second perspective view assembly drawing illustrating a partial assembly not comprising the arms and arm related components illustrated in figure 3. In this illustration is shown also upper 32A and lower 32B openings in the hollow swing spindle for running control, power, or fuel lines between the swing spindle and items mounted on respective ones of upper 20A and lower 20B io arms, and upper 33A and lower 33B central openings in the hollow swing spindle for running said control, power, or fuel lines between the swing spindle and equipment disposed in the body of the AV of the invention. Other components and elements shown in this drawing correspond to what has been illustrated in figure 4.

is Reference is made to figure 5B, providing a second side view assembly drawing illustrating the partial assembly illustrated in figure 5 A, with a clearer view of the return spring and the elongated release button in this embodiment disposed in the upper 71A guide support. The cotter is pin clearly at level with the cam portion 34 of the swing spindle 30, accordingly, the cotter pin is in a locking position, with the protruding end of cotter pin disposed in a notch or “valley” in the cam 34.

Reference is made to figure 6, providing a third perspective view exploded view drawing illustrating components that constitute an advantageous embodiment of the lock arrangement 70 for locking the swing spindle from rotating, thereby locking an associated pair of arms 20A, 20B in a predetermined swing position, which could be at least one of the retracted position or the extended position. In this embodiment, the lock arrangement 70 comprises a lower guide support 7IB with a triangular cross section and a bore in an upper portion at each of three comers for receiving and holding a lower portion of one of three guide rods, a return spring 74, three guide rods 72, a cotter pin 73 with three parallel holes in corners of a triangle for sliding on the guide rods 72, an upper guide support 71A with a triangular cross section and a bore in a lower portion at each of three corners for receiving and holding an upper portion of one of the three guide rods and a central bore

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PCT/N02018/050190 for accommodating a release button, and an elongated release button long to have an upper end thereof protruding from a top of the upper guide support 71A while a lower end thereof is resting on an upper surface of the cotter pin 73. For reference is also the swing spindle 30 shown in this drawing to illustrate approximately how an end of the cotter pin protruding in a direction of the swing spindle 30 may be at level with a cam portion 34 of the swing spindle 30 when a notch or “valley” in the cam 34 is facing the cotter pin, which notch or “valley” in the cam 34 in this embodiment appears to run for about 180 degrees angle of rotation of the swing spindle 30. For illustration of the means for journaling the swing spindle 30 in the large circular openings in the upper 40A and io lower 40B arm attachment brackets, is also shown further details of upper 31A and lower 3 IB flanges protruding radially outwards on the swing spindle 30 and providing means for holding the swing spindle 30, thereby also the cam portion 34 in position between the upper 40A and lower 40B arm attachment brackets.

is I shall be understood that the invention has been explained by way of example and with reference to embodiments of the invention, and that other embodiments that implement the inventive principles and aspects of the invention are also contemplated within the scope of the claims. As an example, an AV implementing invention may be an embodiment in which only upper arms 20A or only lower arms 20B are included, or even other combinations of upper arms 20A or only lower arms 20B than what has been disclosed herein to describe the invention. Similarly, motor supports may be oriented differently from what has been disclosed herein, and arms may be of different design, although only one design has been shown to illustrate and explain the invention.

Claims

Claims

1.

An aerial vehicle (AV), comprising a body (10) and a plurality of lift generating means

5 (61 A,B, 62A,B); each said lift generating means being supported by, and connected to the body (10) via, a respective arm assembly (20A,B); wherein the arm assembly is movable between a retracted position and an extended locked and releasable position, characterized in that said arm assemblies (20A,B) are arranged in pairs, and that each arm assembly pair is io interconnected via a central spindle (30) that is rotatably attached to the body (10).
2. The aerial vehicle of claim 1, wherein each arm assembly pair form upper (20A) and lower (20B) arms that are mounted on the body (10) at a same corner portion and are joined to each other by said swing spindle (30), and the spindle is journaled in a is respective pair of upper (40A) and lower (40B) arm attachment brackets, thereby forming swingable arm pair which is swingable between said extended and retracted arm positions.
3. The aerial vehicle of claim 2, further comprising respective covers (50) attachable

20 to the body (10) at each of said comer portion so as to provide at least protection for the swing spindle (30) and their journaling arrangement in the respective pairs of the upper (40A) and lower (40B) arm attachment brackets .
4. The aerial vehicle of claim 3, further comprising openings in each the upper (40A)

25 and lower (40B) arm attachment brackets, located on opposite sides of the large circular openings in which the swing spindle is to be received, accommodate for screws that fit into corresponding openings at upper and lower ends of the cover (50) for affixing the cover to the upper (40A) and lower (40B) arm attachment brackets, whereby the cover (50) serves to maintain and fix a separation of the associated parts of the upper (40A) and

30 lower (40B) arm attachment brackets.
5. The aerial vehicle of any one of claims 1-4, further comprising a swing lock arrangement (70) configured for each spindle (30) to keep an arm pair locked in at least one of the extended and retracted positions.
6. The aerial vehicle of any one of claims 2-5, the spindle (30) comprises a hollow

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PCT/N02018/050190 portion and comprises upper (32A) and lower (32B) openings in the hollow portion for running control, power, or fuel lines between the swing spindle and items mounted on respective ones of upper (20A) and lower (20B) arms, and upper (33A) and lower (33B) central openings in the hollow swing spindle for running said control, power, or fuel lines

5 between the swing spindle and equipment disposed in the body (10).
7. The aerial vehicle of any one of claims 1-6, wherein the spindle (30) is a tubular swing spindle having a cam (34) on at least a portion of a swing spindle circumference, first and second arm attachment brackets (40A,B) with openings for receiving and io providing a journaling for respective first and second portions of the swing spindle, first and second means for keeping the swing spindle in position in a gap between the first and second arm attachment brackets, and locking arrangement including a movable cotter pin (73) arranged to be movable between a locking position with the cotter pin in level with the cam and disposed in a notch or valley of the cam and a release position not in level is with the cam.
8. The aerial vehicle of any one of claims 1-7, wherein the body (10) is a rectangular body, and an arm assembly pair is connected to each corner portion of said body.