KR101795677B1 - Hybrid drone having common frame - Google Patents

Abstract

The present invention relates to a hybrid drone with a common frame, and is used for both a circular wheel type and a caterpillar type with one-wheel frame by sharing a frame assembled with wheels. The hybrid drone according to the present invention comprises: a main body which is assembled with circular wheels or caterpillar type wheels; and a plurality of rotors which generate lifting force to allow the main body to fly in the air. The main body is formed of a common frame (100) including a pair of connection members (100b) provided in a bar shape and having both ends bent to be inclined outwards, and a support plate (100a) provided on the upper surface of the pair of connection members (100b). The circular wheels or the caterpillar type wheels are selectively assembled to the common frame (100).

Description

HYBRID DRONE HAVING COMMON FRAME "

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a hybrid unmanned aerial vehicle having a common frame, and more particularly, it is possible to selectively combine a circular wheel or a caterpillar with a common frame, It is possible to prevent damage and breakage of parts by loosening shocks when landing or landing by attaching a suspension to a circular wheel or to an infinite track so that a steering device is installed on the front wheel for smooth steering action when driving on the ground. To a hybrid unmanned aerial vehicle having a common frame.

Recently, a variety of unmanned aerial vehicles (UAVs) called "drone" have been developed. As an example, there is a Quadcopter.

The quad-copter is provided with four vertically installed rotors, and is configured to control the flight attitude and the flight direction by independently controlling the rotation speed and the rotation direction of the respective rotors.

However, such a conventional unmanned aerial vehicle has a disadvantage in that it is impossible to enter the airplane in the case of many public obstacles, for example, in a forest with many trees, a lot of electric wires, and a narrow alleyway, and thus it is impossible to enter.

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 in that a lot of energy is consumed to fly the air by driving the rotor, and the disadvantage is that the battery is consumed prematurely.

And because of these problems, there is a disadvantage that the travel distance is short, and the disadvantage is that the use is limited due to such disadvantages.

On the other hand, in consideration of this, it is possible to make the ground running as required, so that it can move quickly to the desired place through the ground running, and the hybrid type which can reduce the energy- Unmanned aerial vehicles are being developed.

As an example, there is a " hybrid unmanned aerial vehicle capable of traveling and flying " in Korean Patent Application No. 2015-70287 filed by the present applicant.

As shown in Figs. 1 and 2, the technique includes a plurality of ground running circular wheels on the body of the UAV, landing on the ground if necessary, and then traveling on the ground through the ground running wheels, .

Such a conventional technique can travel on the ground as needed, so that it can be quickly moved to a desired place through ground running, and also reduces air flight with a large amount of energy consumption, so that the energy saving effect can be achieved.

However, in the above-described conventional technique, as shown in FIG. 3, the main body 10 can be assembled only to the ground-running wheel 40 of the circular wheel type.

Accordingly, the main body 10 can not be used in the endless track type, and the main body 10 needs to be manufactured again.

Further, since the conventional art has no shock absorbing device on the ground running wheel, there is a problem that the parts are damaged when the vehicle is running on the ground or when landing on the ground.

In addition, the conventional technique described above has a disadvantage in that the structure is complicated because the steering means 60 is provided on each of the four wheels and the four steering means are controlled by the control portion 62. [

SUMMARY OF THE INVENTION It is an object of the present invention to provide a hybrid unmanned aerial vehicle capable of traveling and flying, in which a main body frame is shared so that it can be used for both a circular wheel type and an infinite track type in one frame .

Another object of the present invention is to prevent a component from being damaged by absorbing an impact upon landing or landing by providing a suspension on a circular wheel or an endless track.

It is a further object of the present invention to provide a steering device on a front wheel of a circular wheel type so as to smoothly perform a steering action during ground running.

Another object of the present invention is to make it possible to maintain tension of a belt loosened by a suspension in an endless track type.

In order to accomplish the above object, the present invention provides a hybrid vehicle comprising a main body that is assembled with a wheel of a round wheel or an endless track type, and a plurality of rotors that generate lift to fly the main body into the air, In the aircraft, the main body is composed of a pair of connecting members each having a bar shape, both ends of which are bent obliquely toward the outside, and a common frame including a supporting plate provided on the upper surface of the pair of connecting members , And a circular wheel or an endless track type wheel is selectively assembled to the common frame.

Further, the ground running wheels are respectively assembled to the pair of connecting members.

Further, the ground running wheel is further provided with a suspension device for absorbing an impact when the vehicle is running on the ground or when landing on the ground.

The suspension device is characterized in that the suspension device is provided on a ring-shaped fixed wheel of a ground running wheel.

Further, the suspension device is characterized by being a shock absorber.

Further, a steering device is further provided on a front wheel of the ground running wheel.

The steering apparatus includes a steering rod connecting a pair of front wheels to each other, a connecting rod connected to the steering rod, and a servo motor for moving the connecting rod in the left and right directions.

In addition, an endless track type wheel is assembled to the pair of connecting members.

The suspension system may further include a suspension for absorbing an impact when the vehicle is traveling on the ground or when landing on the ground.

In addition, the suspension device is mounted on a support roller frame located at a lower position.

Further, the suspension device is characterized by being a shock absorber.

In addition, the support roller frame moves up and down together with the suspension so that the tension of the belt is kept tight.

According to the hybrid unmanned aerial vehicle equipped with the common frame according to the present invention, in a hybrid unmanned aerial vehicle capable of traveling and flying, the main body frame is shared as one module so that it can be used for both the wheel type and the infinite track type in one frame It is effective.

Accordingly, there is an effect that the cost of manufacturing the frame can be reduced.

In addition, by providing a suspension on the circular wheel or the caterpillar, it is possible to prevent the parts from being damaged or damaged by absorbing an impact upon ground running or landing on the ground.

In addition, by providing a steering device on the front wheel of the round wheel type, there is an effect that the steering action can be smoothly performed at the time of ground running.

Further, in the infinite track type, there is an effect that the tension of the belt loosened by the suspension device can be kept tight.

1 is a perspective view of a hybrid unmanned aerial vehicle capable of traveling and flying according to the prior art.
2 is a plan view of a hybrid unmanned aerial vehicle capable of traveling and flying according to the prior art;
3 is a perspective view showing a body according to the prior art;
4 is a perspective view showing a common frame according to the present invention.
5 is a side view of a round wheel type UAV according to the first embodiment of the present invention;
Fig. 6 is a rear view of a round wheel type UAV according to the first embodiment of the present invention; Fig.
FIG. 7 is a perspective view of an endless track type UAV according to a second embodiment of the present invention; FIG.
8 is a side view of an endless track type UAV according to a second embodiment of the present invention.

Hereinafter, a preferred embodiment of a hybrid unmanned aerial vehicle having a common frame according to the present invention will be described in detail with reference to the accompanying drawings.

≪ Embodiment 1 >

4 to 6 show a first embodiment of the present invention.

Before explaining the features of the present invention, a wheel type UAV will be described with reference to FIGS. 1 to 3. FIG.

The UAV has a main body (10). The main body 10 is constituted by a substantially box-shaped box body, and incorporates a battery, various sensors, a GPS (Global Positioning System), a wireless channel device, a camera, and a control unit.

The main body 10 is provided with rotor supporting arms 12 formed at the front and rear four corners of both sides thereof and rotors 20 mounted on the respective rotor supporting arms 12. [

The rotor support arm 12 is formed in a semicircular shape, and a rotor 20 is vertically installed in an inner portion thereof.

The rotors 20 are operated according to an applied control signal to generate a lift to fly the UAV into the air.

The rotation speed and the rotation direction of the rotors 20 are controlled independently of each other. The rotors 20 thus controlled adjust the flight attitude and the flight direction of the UAV.

Here, the rotors 20 may be controlled by a remote controller or automatically controlled according to an automatic flight program built in the main body 10. [

The structure of the rotor 20, the control method thereof, the battery installed in the main body 10, various sensors, a satellite navigation device, a wireless channel device, a camera and a control unit are well known in the art, Is omitted.

The hybrid unmanned aerial vehicle also has a ground running device 30 for ground running.

The ground traveling device (30) includes a plurality of wheels (40) installed on the main body (10).

The ground running wheels 40 are formed of four pieces, and the four ground running wheels 40 are installed at four corners of the body 10, respectively.

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

The ground running wheels 40 include ring type fixed wheels 42 fixedly installed on the main body 10 and ring type rotating wheels 42 mounted rotatably around the fixed wheels 42. [ (44).

The ring-like fixed wheel 42 is fixedly provided to the rotor support arm 12 of the main body 10. The ring-like fixed wheel 42 thus installed is rotatable about the outer periphery of the ring- Guide.

The ring-shaped rotary wheel 44 rotates along the outer surface of the ring-shaped fixed wheel 42 and rolls along the ground. Thus, the ground 10 of the main body 10 can be driven.

A plurality of guide rollers (not shown) are provided on the ring-like fixed wheel 42. These guide rollers are provided at regular intervals between the ring-like fixed wheel 42 and the ring-shaped rotary wheel 44 .

The guide rollers are in rolling contact with the inner side surface portion of the ring-shaped rotary wheel 44 in a state where the guide rollers are rotatably mounted on the ring-like fixed wheel. Therefore, it facilitates smooth rotation of the ring-shaped rotary wheel 44.

On the other hand, the ring-shaped ground running wheels 40 are configured to correspond to the respective rotors 20, and the ground running wheels 40 thus configured are arranged to be arranged along the perimeter of the rotor 20 . Therefore, it is configured to surround the periphery of the outer portion of the rotor 20.

The reason for this construction is to protect the rotor 20. Particularly, in order to prevent the airborne obstacle and the ground obstacle from directly hitting the rotor 20 during a public flight or ground running, damage and breakage of the rotor 20 can be prevented.

The ground traveling device (30) is provided with a driving means (50) for driving the ground traveling wheels (40).

2, the driving means 50 includes at least one of the left ground running wheels 40a provided on the left side portion of the main body 10 and at least one of the left ground running wheels 40a provided on the right side portion of the main body 10 And right driving wheels 40b for driving the ground driving wheels 40a and 40b independently of each other.

The drive motor 52 is fixedly mounted on a ring-shaped fixed wheel 42 of the ground running wheel 40. The drive motor 52 thus mounted is connected to a ring- 44).

More specifically, the drive motor 52 is installed so as to protrude from the inner side of the ring-shaped fixed wheel 42 in a state where the drive motor 52 is installed on the outer side of the ring-like fixed wheel 42. The drive motor 52, And is connected to the ring-shaped rotary wheel 44 through a power transmitting means.

When the driving motor 52 is operated in accordance with the applied control signal, the driving means 50 having such a configuration transmits the driving force of the driving motor 52 to the internal gear (not shown) through the driving gear (not shown) , And the internal gear to which the driving force is transmitted causes the ring-shaped rotary wheel 44 to rotate.

The ring-shaped rotary wheel 44, which rotates, moves on the ground while moving along the ground. This allows the hybrid unmanned aerial vehicle to travel forward or backward along the ground.

The ground running device (30) has a steering means (60) for controlling the running direction during ground running of the hybrid unmanned aerial vehicle.

2, the steering means 60 includes driving motors 52 of the driving means 50 for driving the left and right ground driving wheels 40 and driving motors 52 of the driving means 50 And a control unit 62 for controlling the rotation direction and the rotation speed of the motor.

The control unit 62 has a microprocessor, and independently controls the rotation direction and the rotation speed of each of the drive motors 52 according to an applied control signal.

Therefore, the rotational direction and rotational speed of the left and right ground running wheels 40 are controlled to be different from each other. This makes it possible to adjust the running direction of the hybrid unmanned aerial vehicle due to the deviation of the rotation direction and the rotation speed of the left and right ground driving wheels 40.

As a result, a hybrid unmanned aerial vehicle can move to a desired location while avoiding various obstacles on the ground.

Next, the characteristic parts of the present invention will be described with reference to Figs.

The hybrid unmanned aerial vehicle according to the first embodiment of the present invention includes a common frame 100 as shown in FIG.

The common frame 100 includes a pair of connection members 100b each having a bar shape and having both ends bent obliquely outwardly and a pair of connection members 100b provided on the upper surface of the pair of connection members 100b And a support plate 100a.

According to the structure of the common frame 100 described above, one frame can be commonly used for a circular wheel or an endless track type wheel.

Accordingly, since the structure of the frame can be modularized regardless of the shape of the wheel, the manufacturing cost can be reduced.

In addition, according to the first embodiment of the present invention, as shown in FIG. 5, the ground running wheel 40 is further provided with a suspension device 70 for absorbing shocks during ground running and ground landing.

The suspension device 70 is installed below the ring-shaped fixed wheel of the ground running wheel 40, as shown in Fig.

The suspension device 70 absorbs an impact when the vehicle is running on the ground or when landing on the ground after flying, thereby preventing damage to the parts.

The suspension device 70 may include a shock absorber, but is not limited thereto.

Since the shock absorber itself is a known component, a detailed description thereof will be omitted.

In addition, according to the first embodiment of the present invention, as shown in FIG. 6, a steering device 80 is further provided on the front wheel of the ground running wheel 40.

The steering apparatus 80 includes a steering rod 80c for connecting a pair of front wheels to each other, a connecting rod 80b connected to the steering rod 80c, And a servo motor 80a for moving the motor.

The steering device (80) can smoothly perform the steering action of the front wheel during ground running.

2, each of the ground running wheels 40 is provided with steering means 60 including a driving means 50, and these four steering means are connected to the control portion 62, And has a disadvantage in that the structure is complicated.

≪ Embodiment 2 >

7 and 8 show a second embodiment of the present invention.

The second embodiment of the present invention differs from the first embodiment of the circular wheel type in that the wheels are formed into an endless track type.

That is, as shown in FIG. 7, a pair of connecting members 100b of the common frame 100 are assembled with wheels of an endless track type 90, respectively.

As shown in FIG. 4, the common frame 100 includes a pair of connecting members 100b each having a bar shape and having both ends bent obliquely outwardly, and a pair of connecting members 100b And a support plate 100a provided on the upper surface.

Accordingly, the same common frame 100 can be used for both the circular wheel type and the endless type wheel.

8, the endless track 90 is further provided with a suspension 70 for absorbing shocks during ground running and landing.

As shown in Fig. 8, the suspension device 70 is installed on the upper portion of the supporting roller frame 90b located at the lower portion.

With the above structure, the support roller frame 90b moves up and down together with the suspension 70. [

As a result, when the suspension is moved up and down by the impact of the gas, the tension of the endless belt can be prevented from being loosened.

The suspension may be configured as a shock absorber as in the first embodiment.

The other items are the same as those in the first embodiment described above.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention.

10: Main body 12: Rotor supporting arm
20: Rotor 30: Ground traveling device
40: ground running wheel 42: ring type fixed wheel
44: ring-shaped rotary wheel 50: drive means
52: driving motor (motor) 60: steering means
62: control unit 70: suspension unit
80: Steering device 80a: Servo motor
80b: connecting rod (Rod) 80c:
90: endless track 90a: support roller
90b: support roller frame 100: common frame
100a: Support plate 100b: Connecting member

Claims (12)

A hybrid unmanned aerial vehicle comprising a main body assembled with a wheel of a circular wheel or an endless track type, and a plurality of rotors for generating a lift to fly the main body in the air,
The main body includes:
A pair of connecting members 100b provided in a bar shape and having both ends bent obliquely outwardly,
And a common frame 100 including a supporting plate 100a provided on the upper surface of the pair of connecting members 100b,
The single common frame 100 can be used for both the circular wheel type and the infinite track type,
When the ground running wheels 40 are respectively assembled to the pair of connecting members 100b of the common frame 100, the suspension for absorbing an impact on the ground running and the ground landing on the ground running wheel 40 An apparatus 70 is further provided,
The suspension device 70 is constituted by a shock absorber and is installed on a ring-shaped fixed wheel of the ground running wheel 40,
A steering device (80) is further provided on the front wheel of the ground running wheel (40)
The steering device (80)
A steering rod 80c connecting the pair of front wheels to each other,
A connecting rod 80b connected to the steering rod 80c,
And a servo motor (80a) for moving the connecting rod (80b) in the left and right direction. delete delete delete delete delete delete The method according to claim 1,
When a wheel of an endless track 90 type is assembled to a pair of connecting members 100b of the common frame 100, a suspension for absorbing shocks during ground running and ground landing on the endless track 90, (70)
The suspension device 70 is constituted by a shock absorber and is provided on a support roller frame 90b,
Wherein the supporting roller frame (90b) moves up and down together with the suspension (70) so that the tension of the belt is kept tight. delete delete delete delete

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