KR101389711B1 - Multi-rotor - Google Patents

Abstract

A multi-rotor comprises a flexible frame, a control base plate, blades, and an articulated link. The control base plate is arranged at the center of the flexible frame. The blades are arranged between the flexible frame and the control base plate to be rotated. The articulated link connects each blade to the flexible frame to vary the central position of each blade with the transformation of the flexible frame. Therefore, shock applied to the blades significantly decreases as the position of the blades is changed by the articulated link with the transformation of the flexible frame. As a result, the multi-rotor can keep flying without being damaged when the multi-rotor collides with an object. [Reference numerals] (AA) Second direction; (BB) First direction

Description

Multi-rotor {MULTI-ROTOR}

The present invention relates to a multi-rotor, and more particularly to a multi-rotor flying by the rotation of the blade.

Multi-rotors are vehicles that fly by the action of the blades rotating about a horizontal axis. The multi-rotor causes the blades to rotate by an external signal input to the control board.

Such a multi-rotor may collide with unexpected obstacles during flight. At this time, in many cases, the blade of the rotor is damaged by the collision, leading to a reduction or loss of propulsion, which may cause unstable flight, which makes it impossible to carry out the mission, so its handling is important.

 The present invention provides a multi-rotor that can prevent damage during collision with a structure such as a wall or a tree during flight.

A multi-rotor in accordance with one aspect of the present invention includes a flexible frame, a control board, blades and articulated links. The control board is disposed at the center of the flexible frame. The blades are rotatably disposed between the flexible frame and the control substrate. An articulated link connects each of the blades and the flexible frame such that the center position of each of the blades changes with the deformation of the flexible frame.

In example embodiments, the flexible frame may have an annular shape.

In example embodiments, the articulated link is rotatably connected to a first link connected to the flexible frame, a second link connected to the control board, and the first link and the second link, The blade may comprise a third link rotatably connected.

In example embodiments, the first link may be secured to the flexible frame. The second link may be fixed to the control board.

In example embodiments, the first link may be rotatably connected to the flexible frame. The second link may be rotatably connected to the control substrate.

In example embodiments, the first link and the second link may be arranged in parallel.

In example embodiments, the third link may be orthogonal to the first and second links without the flexible frame being deformed.

In example embodiments, the blades may be formed of four arranged at 90 [deg.] Intervals.

According to another aspect of the invention a multi-rotor comprises a flexible frame, a control board, four first links, four second links, four third links and four blades. The flexible frame can have an annular shape. The control board is disposed at the center of the flexible frame. First links extend from the flexible frame toward the control substrate and are arranged at equal intervals. Second links extend from the control board toward the flexible frame and are arranged at equal intervals. Third links are rotatably connected to each of the first links and each of the second links. Blades are rotatably connected to each of the third links.

In example embodiments, the first link and the second link may be arranged in parallel.

In example embodiments, the third link may be orthogonal to the first and second links without the flexible frame being deformed.

According to the present invention, the flexible frame is deformed by an external impact caused by the multi-rotor colliding with the structure. According to the deformation of the flexible frame, the position of the third link is also changed. Thus, by changing the position of the blade connected to the third link, the impact applied to the blade can be greatly alleviated. As a result, even if the multi-rotor collides with the structure, damage to the multi-rotor is prevented and the multi-rotor can continue to fly.

1 is a plan view illustrating a multi-rotor according to an embodiment of the present invention.
FIG. 2 is an enlarged cross-sectional view of the blade of the multi-rotor of FIG.
3 is an enlarged plan view of the articulated link of the multi-rotor of FIG.
4 is a plan view showing that the flexible frame of the multi-rotor of FIG. 1 is deformed by an external impact.
5 is a plan view illustrating a multi-rotor according to another exemplary embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a part or a combination thereof is described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

1 is a plan view illustrating a multi-rotor according to an embodiment of the present invention, FIG. 2 is an enlarged cross-sectional view of a blade of the multi-rotor of FIG. 1, and FIG. 3 is an articulated link of the multi-rotor of FIG. 1. Is an enlarged plan view, and FIG. 4 is a plan view showing that the flexible frame of the multi-rotor of FIG. 1 is deformed by an external impact.

1 to 3, the multi-rotor 100 according to the present embodiment includes a flexible frame 110, a control board 120, articulated links 130, and blades 150. .

In the present embodiment, the flexible frame 110 includes a material that can be deformed, that is, bent by the external impact generated when the multi-rotor 100 collides with the structure. The flexible frame 110 has an approximately annular shape. In another embodiment, the flexible frame 110 may have a polygonal shape such as a triangle, a rectangle, or the like.

The control board 120 is disposed at the center of the flexible frame 110. The control board 120 rotates or stops the blades 150 by an external signal. The control board 120 may include a printed circuit board (PCB) capable of receiving an external signal and transmitting a control signal to the blade.

The blades 150 are disposed between the flexible frame 110 and the control board 120. In the present embodiment, the blades 150 consist of four arranged at equal intervals. That is, the blades 150 are arranged at intervals of 90 ms. The blades 150 are connected to the motor 154 through the motor shaft 152 to receive the rotational force provided from the motor 154. The motor 154 receives the control signal of the control board 120. Thus, motor 154 is electrically connected to control board 120.

The articulated links 130 connect each of the blades 150 to the flexible frame 110 and the control board 120, respectively. In the present embodiment, the articulated link 130 moves the rotation center point of the blade 150 when the flexible frame 110 is deformed, thereby preventing breakage of the blade 150.

The articulated link 130 having this function includes a first link 132, a second link 134, and a third link 136. Since four blades 150 are four, the articulated link 130 is also four. The four articulated links 130 have the same structure. Therefore, the left articulated link 130 will be described here.

The first link 132 extends along the first direction from the flexible frame 110. In this embodiment, the first link 132 has a first end fixed to the flexible frame 110, and a second end extending in a first direction from the first end toward the control substrate 120.

The second link 134 extends along the first direction from the control board 120. In this embodiment, the second link 134 has a first end fixed to the control board 120, and a second end extending along the first direction from the first end toward the flexible frame 110. In addition, the first link 132 and the second link 134 may be arranged in parallel at regular intervals.

The third link 136 connects the first link 132 and the second link 134. In this embodiment, the third link 136 is a first end rotatably connected to the first link 132 via the hinge pin 140, and the second link 134 via the hinge pin 140. Has a second end rotatably connected thereto.

In the present embodiment, with the flexible frame 110 undeformed, the third link 136 is substantially orthogonal to the first and second links 132, 134. That is, the third link 136 is arranged along the second direction.

The blade 150 is rotatably connected to the central portion of the third link 136. Accordingly, the motor shaft 152 is disposed at the center of the third link 136, and the blade 150 is mounted to the motor shaft 152.

In this embodiment, since the third link 136 is rotatably connected to each of the first link 132 and the second link 134, as shown in FIG. 4, the center of the third link 136 is shown. The position may be moved according to the deformation of the flexible frame 110.

Specifically, when an external force is applied to the flexible frame 110 along the arrow direction, that is, the second direction of FIG. 4, the flexible frame 110 is compressed in the arrow direction. That is, the upper and lower parts of the flexible frame 110 move in the direction of the control board 120, and the left and right sides of the flexible frame 110 move in the opposite direction of the control board 120 with reference to FIG. 4. As a result, the annular flexible frame 110 is deformed into an approximately elliptic shape by an external force.

Accordingly, the first link 132 of the upper articulated link 130 and the first link 132 of the lower articulated link 130 move in the direction of the control board 120 with reference to FIG. 4. Accordingly, the third links 136 of the upper and lower articulated links 130 arranged along the first direction are rotated by about 45 ° so that the rotational center point of the blade 150 slightly moves toward the control board 120. Done.

On the other hand, the first link 132 of the left articulated link 130 and the first link 132 of the right articulated link 130 are moved in the opposite direction of the control board 120. Accordingly, the third links 136 of the left and right articulated links 130 arranged along the second direction are rotated by about 45 °, so that the rotational center point of the blade 150 slightly moves in the opposite direction of the control board 120. Done.

However, since the first links 132 are fixed to the flexible frame 110 and the second links 134 are fixed to the control board 120, the rotational center point of the blade 150 is in the first direction. Only move along the second direction.

By the deformation operation of the flexible frame 110, the movement of the articulated link 130, and thus the movement of the rotation center point of the blade 150, the blade 150 from the external impact applied to the multi-rotor 100 ) Can be protected.

5 is a plan view illustrating a multi-rotor according to another exemplary embodiment of the present invention.

The multi-rotor 100a according to the present embodiment includes components substantially the same as those of the multi-rotor 100 of FIG. 1 except for the connection structure of the first link and the second link. Accordingly, the same components are denoted by the same reference numerals, and repetitive descriptions of the same components are omitted.

Referring to FIG. 5, the first link 132 of the multi-rotor 100a according to the present embodiment is rotatably connected to the flexible frame 110 via a hinge pin 142. In addition, the second link 134 is also rotatably connected to the control board 120 via a hinge pin 142.

Thus, when the flexible frame 110 is deformed by an external impact, the position where the third link 136 can be moved is not limited only to the first and second directions. As a result, the rotational center point of the blade 150 may also move along a curvature that is inclined with the first and second directions instead of only along the first and second directions. Since the articulated link 130 does not limit the rotational center point moving position of the blade 150, the articulated link 130 may more effectively protect the blade 150 from external impact.

Meanwhile, in the present exemplary embodiments, the multi-rotor having four blades 150 is exemplarily described, but the multi-rotor having two, three, or five or more blades 150 also belongs to the scope of the present invention. Of course.

According to the present embodiments described above, the flexible frame is deformed by an external impact generated when the multi-rotor collides with the structure. According to the deformation of the flexible frame, the position of the third link is also changed. Thus, by changing the position of the blade connected to the third link, the impact applied to the blade can be greatly alleviated. As a result, even if the multi-rotor collides with the structure, damage to the multi-rotor is prevented and the multi-rotor can continue to fly.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined in the appended claims. And changes may be made without departing from the spirit and scope of the invention.

110; Flexible frame 120; Control board
130; Articulated link 132; First link
134; Second link 136; 3rd link
140, 142; Hinge pin 150; blade
152; Motor shaft 154; motor

Claims (11)

Flexible frame;
A control substrate disposed at the center portion of the flexible frame;
A plurality of blades rotatably disposed between the flexible frame and the control substrate and whose rotational motion is controlled by the control substrate; And
And a articulated link connecting each of the blades to the flexible frame and the control substrate such that the central position of each of the blades changes as the flexible frame changes. The multi-rotor of claim 1, wherein the flexible frame has an annular shape. The method of claim 1, wherein the articulated link is
A first link coupled to the flexible frame;
A second link coupled to the control board; And
And a third link rotatably connected to the first link and the second link, wherein the blade is rotatably connected. 4. The multi-rotor of claim 3 wherein the first link is secured to the flexible frame and the second link is secured to the control substrate. 4. The multi-rotor of claim 3, wherein the first link is rotatably connected to the flexible frame and the second link is rotatably connected to the control substrate. 4. The multi-rotor of claim 3, wherein the first link and the second link are arranged in parallel. 7. The multi-rotor of claim 6, wherein the third link is orthogonal to the first and second links in a state where the flexible frame is not deformed. The multi-rotor of claim 1, wherein the blades are arranged at 90 ° intervals. Annular flexible frame;
A control substrate disposed at the center portion of the flexible frame;
Four first links extending from the flexible frame toward the control substrate and arranged at equal intervals;
Four second links extending from the control substrate toward the flexible frame and arranged at equal intervals;
Four third links rotatably connected to each of the first links and each of the second links; And
And four blades rotatably connected to each of said third links. 10. The multi-rotor of claim 9 wherein the first link and the second link are arranged in parallel. The multi-rotor of claim 10, wherein the third link is orthogonal to the first and second links in a state in which the flexible frame is not deformed.

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