KR101884673B1 - Combined large multi-copter - Google Patents

Abstract

The present invention relates to a combination type large multicopter to receive a large capacity multicopter with a plurality of small multicopters. According to the present invention, the combination type large multicopter comprises: a fuselage frame formed to attach the small multicopters and a large fan; and a frame to couple one end to the fuselage frame and to mount the multicopter on the other end. The fuselage frame comprises: a plurality of fuselage frame coupling units formed in various shapes to be outwardly extended from the fuselage frame to be coupled to the one end of the frame; and a large fan coupling unit to attach one or more large fans. The frame, which is a pipe-shaped predetermined standard product, is compatible with the fuselage frame of various shapes and is formed to realize arm tilting to be rotated in an axial direction. Accordingly, a plurality of standardized frames are connected to the various fuselage frames formed in Lego type concept and the small multicopter is mounted on each frame to acquire thrust and lift force, and the large fan is coupled as necessary to acquire lift force so as to form the large capacity multicopter, thereby realizing a low cost and high efficiency multicopter.

Description

[0001] Combined large multi-copter [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a combined large-size multi-copter, and more particularly, to a combined large-size multi-copter which is equipped with a plurality of small multi- The present invention relates to a multi-copter.

Multi-copter refers to a multi-copter aircraft equipped with a large number of rotors capable of flying and manipulating by induction of radio waves without being piled by a pilot. Recently, the multi-copter has been widely used for military and commercial purposes.

Especially, Multicopter with excellent sensing ability and quick mobility using cameras and sensors is being used in various fields such as transportation, security, surveillance and observation.

The currently used multi-copter can not have various shapes, and most of them are made in one piece, requiring finished products of various sizes depending on application field or transportation load. In addition, when flying, the rotor is tilted by increasing or decreasing the rotational force, resulting in a large resistance and poor efficiency.

Therefore, in order to solve the above problem, it is possible to adjust the size according to the application field or the transportation load, to obtain the thrust and the steering force by using the small multi-copter, to obtain the lift by using the large fan / More research is needed on multi-copter.

Korean Registered Patent No. 10-1700247 (Jan. 26, 2017) Korean Patent Publication No. 10-2017-0017067 (Feb.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the problems described above and to provide a combined large-sized multi-copter which is constructed by combining a plurality of small multi-coppers and a large fan / rotor.

Another object of the present invention is to provide a combined large-sized multi-copter comprising a base frame and a frame.

It is still another object of the present invention to provide a combined large-size multi-copter in which a plurality of small multi-copters and a large fan / rotor can be attached to a base frame.

It is still another object of the present invention to provide a gas turbine engine in which a gas frame extends outwardly from a gas frame and is joined to one end of a frame and a large fan / And a fastening part.

It is still another object of the present invention to provide a combined large-sized multi-copter in which one end of the frame is coupled to a gas frame and the other end is configured to mount a small multi-copter.

Another object of the present invention is to provide a gas frame in various shapes in terms of a rego type according to the purpose of operation. A dual type gas frame is formed in a lattice shape and a frame with a small multi-copter mounted at both ends in the longitudinal direction. A gas frame is formed into a triangular propeller shape, and a frame having a small multi- A tri-type, a quad type in which a gas frame is formed into a square propeller or a lattice shape and a frame in which a small multi-copter is mounted at each end, a gas frame is formed in a pentagonal star shape or a lattice shape, And a gas frame having a hexagonal shape or a lattice shape, and joining a frame equipped with a small multi-copter at each end thereof. The gas frame is formed into an octagonal star or a grid shape, It forms an octa type combining frame with small multi-copter at the end. Coupled to provide a large multirotor.

It is still another object of the present invention to provide a frame structure in which a frame is formed as a regular product of a pipe shape and a frame joint portion is formed so as to be coupled with a gas frame joint portion at one end and a small multi- And to provide a combined large-size multi-copter.

It is still another object of the present invention to provide a combined large-size multi-copter in which the frame is formed so as to allow arm tilting to rotate in the axial direction of the frame at the end where the small multi-copter is mounted.

In order to achieve the above object, the present invention provides a combined large-size multi-copter, which is constructed by combining a plurality of small multi-copters and a large fan / rotor.

The combined large-size multi-copter of the present invention is characterized by comprising a gas frame and a frame.

The gas frame of the combined large-size multi-copter of the present invention is characterized in that a plurality of small multi-coppers and a large fan / rotor can be attached.

The gas frame of the combined large-size multi-copter of the present invention includes a plurality of gas frame engaging portions extending outwardly from the gas frame and engaging with one end of the frame, a large fan engaging portion And the like.

The frame of the combined large-size multi-copter of the present invention is characterized in that one end is coupled to the base frame and the other end is configured to mount a small multi-copter.

The gas frame of the combined large-size multi-copter of the present invention is manufactured in various shapes in the concept of a rego type according to the purpose of operation. A dual type gas frame is formed in a lattice shape and a frame with a small multi-copter mounted at both ends in the longitudinal direction. A gas frame is formed into a triangular propeller shape, and a frame having a small multi- A tri-type, a quad type in which a gas frame is formed into a square propeller or a lattice shape and a frame in which a small multi-copter is mounted at each end, a gas frame is formed in a pentagonal star shape or a lattice shape, And a gas frame having a hexagonal shape or a lattice shape, and joining a frame equipped with a small multi-copter at each end thereof. The gas frame is formed into an octagonal star or a grid shape, It forms an octa type combining frame with small multi-copter at the end. And that is characterized.

The frame of the combined large-size multi-copter according to the present invention is a regular standardized product of a pipe shape. The frame joint part is formed so as to be coupled to the gas-frame joint part at one end and the small multi-copter is attached at the other end. .

The combined large-size multi-copter frame of the present invention is characterized in that it is formed to be capable of arm tilting which rotates in the axial direction of the frame at the end where the small multi-copter is mounted.

In the combined large-size multi-copter of the present invention as described above, the combined large-size multi-copter of the present invention can make a variety of gas frames as a concept of the Lego shape. Therefore, the present invention is capable of standardizing the gas frame according to the purpose of use and use, and is made of the same large fan / rotor combination as the same small multi-copter, mass production of such components is possible.

Further, the combined large-size multi-copter of the present invention is completed by combining a frame equipped with a small multi-copter in a base frame. Therefore, it is possible to combine standardized frames irrespective of the shape and size of the gas frame, thereby providing a low cost, high efficiency multi-copter, and securing spare parts easily.

In the combined large-size multi-copter of the present invention, a plurality of small multi-copters 10 and one or a plurality of large fans / rotors are fastened to the fastening part. Therefore, the small multi-copter and the large fan / rotor divide the thrust and the lift respectively, so that the multi-copter can fly without inclining the frame of the multi-copter so that the stable flying ability is obtained.

FIG. 1 is a schematic block diagram showing a control concept of a combined large-size multi-copter according to the present invention.
2 is a schematic enlarged view showing arm tilting of a combined large-size multi-copter and a small multi-copier according to the present invention.
FIG. 3 is a conceptual diagram of a rough gas frame structure of a dual type combined type large multi-copter according to the present invention.
FIG. 4 is a schematic view of a schematic structure of a gas frame of a tri-type coupled large-size multi-copter according to the present invention.
FIG. 5 and FIG. 6 are schematic diagrams of an approximate gas frame configuration of a quad-type combined large-size multi-copter according to the present invention.
FIG. 7 is a conceptual view of an approximate gas frame structure of a Penta type combined multi-copter according to the present invention.
FIGS. 8 and 9 are schematic diagrams of a gas frame structure of a Hexa type combined large-size multi-copter according to the present invention.
FIGS. 10 and 13 are schematic diagrams of an approximate gas frame structure of an Octa-type combined large-size multi-copter according to the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and are herein described in detail.

It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms or words used in the present invention are used only to describe specific embodiments and are not intended to limit the present invention. It should be construed in the meaning and concept consistent with the technical idea of the present invention based on the principle that the concept of the term can be appropriately defined in order to explain the invention in the best way.

Specific features and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings.

FIG. 1 is a schematic block diagram showing the control concept of a combined large-size multi-copter according to the present invention, and FIG. 2 is a schematic view showing the arm tilting of a combined large-size multi- FIG. 3 is a conceptual diagram of a rough gas frame structure of a dual type combined type large multi-copier according to the present invention, and FIG. 4 is a schematic view showing the approximate structure of a tri- FIG. 5 is a conceptual view of a gas frame structure, FIGS. 5 and 6 are schematic conceptual diagrams of a gas frame structure of a quad type combined large-size multi-copter according to the present invention, and FIG. FIG. 8 and FIG. 9 are schematic gas frame configuration concept diagrams of a Hexa type combined large-size multi-copter according to the present invention, and FIGS. 10 and 1 3 is a conceptual diagram of a rough gas frame structure of an octa type combined large-size multi-copter according to the present invention.

As shown in FIG. 1, a plurality of small multi-copters 10 and a large fan 50 are combined to form a combined large-size multi-copter 90.

At this time, the small multi-copter 10 takes charge of lifting and thrusting, and mainly takes charge of the levitation of the combined large-sized multi-copter of the present invention, and mainly takes charge of cruising and cruising, .

The combined large-size multi-copter (90) of the present invention comprises a base frame (100) and a frame (200).

The base frame 100 of the combined large-size multi-copter of the present invention is formed so as to be able to attach a plurality of small multi-copters 10 and a large fan 50.

The gas frame 100 of the combined large-size multi-copter of the present invention includes a plurality of gas frame engaging portions 110 extending outwardly from the gas frame 100 and engaged with one end of the frame 200, Or a large fan / rotor coupling part 120 for attaching a plurality of large fans 50. [

The frame 200 of the combined large-size multi-copter of the present invention is formed so as to be coupled to the base frame 100 at one end and to mount the small multi-copter 10 at the other end.

The gas frame 100 of the combined large-size multi-copter of the present invention is formed in various forms.

The base frame 100 according to the present invention may be manufactured in various shapes according to the purpose of the operation, in the concept of a rego shape. In the present invention, a dual type (see FIG. 3) in which a base frame 100 is formed in a lattice shape and a frame 200 in which a small multi-copter 10 is mounted at both ends in the longitudinal direction is joined (See FIG. 4) in which the frame 200 having the small multi-copter 10 mounted thereon is formed at each end thereof, and the base frame 100 is formed into a rectangular propeller or a grid, A quad type (see Figs. 5 and 6) in which a frame 200 equipped with a small multi-copter 10 is coupled to an end of a base frame 100 is formed in a pentagonal shape or a lattice shape, A frame 200 (see Fig. 7) in which the frame 100 having the microcopter 10 mounted thereon is formed in a hexagonal or lattice-like shape, and a frame 200 ) (See Figs. 8 and 9), a gas-filled type Form a 100 in the stars or octagonal lattice shape and forms an octa-type (see Figs. 10 to 13) coupled to the frame 200 is small multirotor 10 is mounted on each end.

At this time, one or a plurality of large fans / rotors 51 to 58 are attached to the base frame 100 of the present invention so as to increase lift.

The frame 200 of the combined large-size multi-copier of the present invention is a regular standard product in the form of a pipe. The frame 200 has a frame coupling part 210 formed at one end thereof to be coupled to the base frame coupling part 110, 10 are mounted and fastened with pins or bolts / nuts to various types of gas frames 100.

2, the frame 200 of the combined large-size multi-copter according to the present invention includes an arm tilting portion which rotates in an axial direction of the frame 200 at an end portion where the small multi-copter 10 is mounted, .

At this time, the arm tilting part 230 is formed with the rotation part 232 in the frame 200 and the bearing 231 is mounted in the rotation part 232 to rotate in the axial direction, The thrust is obtained and it will fly to the destination.

Referring again to FIG. 1, in the combined large-size multi-copter of the present invention, when the controller commands the receiver to perform a multi-copter mission to the receiver, the main controller measures the current position, speed, and posture from the sensor unit, After calculating the trajectory to be traced, calculate the direction and speed to follow it, and calculate the posture, thrust and thrust direction to be taken in order to achieve this, calculate the main thrust of the large fan or rotor, the thrust and attitude of the multi- And the multi-copter at each stage is configured to calculate posture from a sensor mounted on itself and to calculate and command the speed of each motor to perform the calculation result.

The combined large-size multi-copter of the present invention is combined and operated in the following order.

1. Combination of multi-copter

end. The gas frames 100a to 100f bonded to each other are selected according to the purpose of use and the purpose of operation.

I. That is, the frame frame engaging portion 110 of the base frame 100 and the frame engaging portion 210 of the frame 200 are engaged with each other.

 At this time, the coupling portions 110 and 210 are fastened with pins or bolts / nuts.

All. One or a plurality of large fans / rotors 51 to 58 are mounted symmetrically on the coupling part 120 according to the conveying load.

2. Operation of the combined multi-copter

end. The controller commands the receiver with the remote controller to perform the multi-copter mission.

I. The main controller measures the position, velocity and posture of the multi-copter from the sensor.

All. The main controller computes the direction and velocity after calculating the trajectory of the multi-copter.

la. The posture, the thrust, and the thrust direction.

hemp. The main thrust, the thrust and posture of each multi-copter are calculated and commanded.

bar. The multi-copter controller at each end measures the multi-copter posture at each end from the sensor.

four. Controls the main thrust motor, and calculates and commands the speed of each motor.

Ah. The multi-copter takes off vertically.

character. When a certain flying height is secured, flight is performed by arm tilting at a predetermined angle through control of each rotor motor of one or a plurality of small multi-copters 10 in the moving direction.

car. In this way, the pilot moves to the landing point after completing the mission by flying control according to the mission, trajectory and posture commanded by the pilot.

bar. The speed of each motor is added and landed.

The combined large-size multi-copter of the present invention has the following advantages.

First, the combined large-size multi-copter of the present invention can make a variety of gas frames 100 in the concept of Lego shape.

Therefore, the present invention can standardize the gas frame according to the purpose of use and use, and uses the same multi-copter and frame, so mass production of such components is possible.

In addition, the combined large-size multi-copter of the present invention is completed by assembling the frame 200 having the small multi-copter 10 mounted on the base frame 100.

Accordingly, since the standardized frame 200 can be coupled regardless of the shape and size of the base frame 100, it is possible to provide a low cost and high efficiency multi-copter, and it is easy to secure spare parts.

In the combined large-size multi-copter of the present invention, a plurality of small multi-copters 10 and one or a plurality of large fans / rotors 51 to 58 are fastened to the fastening part 120.

Therefore, the small multi-copter (10) and the large fan (50) take charge of the thrust and lift, respectively, so that the multi-copter can fly without slanting the gas frame.

10: Small multi-copter
11 ~ 18: Small multi-copter (N1 ~ N8)
20: Rotor
21 to 24: rotors (r1 to r4)
50: Large fan
51 ~ 58: Large fan / rotor (T1 ~ T8)
90: Combined large multi-copter
100: airframe frame
100a to 100f: gas frame
110: gas frame engaging portion
120: fastening portion
200: frame
210:
220: Small multi-copter coupling unit
230: tilting portion
231: Bearings
232:

Claims (4)

The present invention relates to a combined large-size multi-copter that implements a large-capacity multi-copter with a plurality of small multi-copters (10)
A gas frame 100 formed in various shapes to attach the plurality of small multi-copter 10 and the large fan 50;
The frame member 210 is formed so as to engage with the base frame coupling part 110 of the base frame 100 at one end and the small multi-copter 10 is mounted at the other end in the axial direction A frame 200 capable of arm tilting and formed to be coupled to various types of gas frames 100,
The base frame 100 includes a plurality of base frame coupling parts 110 extending outwardly from the central part and coupled to one end of the frame 200 and one or more large fans 50 A large fan / rotor coupling part 120,
The base frame 100 includes a dual type in which a large fan 50 is symmetrically fastened to a central portion and a small multi-copter 10 is coupled to a frame 200 extending to both ends, A triple type in which a small multi-copter 10 is coupled to a large fan 50 selectively engaged with the periphery and a frame 200 extending from the triangle, a center type is formed in a rectangular shape, , A large fan (50) fastened to the frame (200) and a frame (200) extending from the quadrangle, a large fan (20) formed in a polygonal center and selectively fastened to the outer periphery 50 and a frame 200 extending from the polygon are combined with a miniature multi-copter 10 of a pentagonal, hexagonal, and octa type,
The small multi-copter 10 generates a partial lift and a thrust to control and cruise the air, and the large fan 50 is attached to one or a plurality of the fans to increase the lift, Wherein the first and second multi-copiers are coupled to each other.














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