KR102170021B1 - Takeoff and landing apparatus for unmanned aerial vehicle - Google Patents

Abstract

The present invention relates to a take-off and landing apparatus for an unmanned aerial vehicle, which includes: a fixed support part; a rotational support part installed on the fixed support part to be rotatable around a first direction; and a horizontal maintaining rotation part installed on the rotational support part to be rotatable around a second direction perpendicular to the first direction, having an upper portion on which a take-off and landing surface capable of take-off and landing of the unmanned aerial vehicle is installed, and having a lower portion on which the center of weight is positioned. Therefore, the take-off and landing apparatus for an unmanned aerial vehicle can be easily maintained.

Description

Takeoff and landing device of unmanned aerial vehicle {TAKEOFF AND LANDING APPARATUS FOR UNMANNED AERIAL VEHICLE}

The present invention relates to a take-off and landing apparatus of an unmanned aerial vehicle, and more particularly, to a take-off and landing apparatus of an unmanned aerial vehicle capable of taking off and landing of an unmanned aerial vehicle.

As the use of unmanned aerial vehicles such as drones is increasing, the fields of application are expanding. For example, a transportation service that provides medical supplies or emergency relief supplies to a disaster area where traffic has not been restored by installing equipment that can load items on an unmanned aerial vehicle, or quickly delivers items ordered by a user, such as a courier service. It is thriving.

In addition, cameras are mounted on unmanned aerial vehicles to relay sports events, monitor for safety accidents at beaches or construction sites, spray pesticides on agricultural fields, or perform dangerous tasks on behalf of people in places where human access is difficult. As such, unmanned aerial vehicles are being utilized in various fields.

However, when an unmanned aerial vehicle takes off and lands on a rough terrain or slope, the unmanned vehicle tilts or slides, and may collide with the ground or surrounding features, facilities, and structures, and damage to life. As it may occur, the take-off and landing of unmanned aerial vehicles is limited to flat land.

In order to improve this, various technologies have been developed to stably take off and land unmanned aerial vehicles, but they are applied in an electronic control method, taking into account the application of fine parts that are vulnerable to environmental factors such as humidity and temperature differences, and power supply. Because it must be done, maintenance and management are cumbersome, and there are disadvantages of low efficiency in terms of occurrence of malfunction, failure, and life.

Therefore, there is a need to improve this.

The background technology of the present invention is disclosed in Korean Patent Application Publication No. 2017-0123801 (published on November 9, 2017, title of the invention: a method and apparatus for maintaining accuracy of horizontal position for takeoff and landing of an unmanned aerial vehicle).

An object of the present invention is to provide a take-off and landing apparatus for an unmanned aerial vehicle that can be easily maintained and managed while allowing the take-off and landing of an unmanned aerial vehicle to be stably performed regardless of the shape of the ground.

The take-off and landing apparatus of an unmanned aerial vehicle according to the present invention comprises: a fixed support; A rotation support part rotatably installed in a first direction on the fixed support part; And a horizontal maintenance rotating part rotatably installed in the rotation support part about a second direction perpendicular to the first direction, a take-off and landing surface capable of taking off and landing of an unmanned aerial vehicle is formed at an upper part, and a center of gravity located at a lower part; It characterized in that it includes.

The fixed support portion, a casing portion capable of receiving the horizontal holding rotating portion; And a take-off and landing opening portion formed to be open on the upper portion of the casing portion.

The fixed support portion, a seating portion seated on the ground; And an extension support part connected to the seating part and rotatably supporting the rotation support part.

The rotation support portion, a first rotation shaft installed in the first direction on the fixed support portion; And a rotation ring having a ring shape, rotatably coupled to the first rotation shaft, and rotatably supporting the horizontal holding rotation unit.

The horizontal maintaining rotation unit may include a rotation shaft connection part rotatably installed in the rotation support part about the second direction; A horizontal take-off and landing unit formed on the upper portion of the rotational shaft connection part and on which the take-off and landing surface is formed; And a horizontal maintenance weight portion formed below the rotation shaft connection portion and having a greater weight than the horizontal take-off and landing portion.

The rotation shaft connection part may include a second rotation shaft installed in the second direction on the rotation support part; And a horizontal retainer rotatably coupled to the second rotation shaft and to which the horizontal take-off and landing part and the horizontal retaining weight part are coupled.

The horizontal take-off and landing part may include a support part formed on the rotation shaft connection part; A buffer rotation unit rotatably installed on the support; A rotation conversion unit installed between the support unit and the buffer rotation unit and converting a vertical displacement of the buffer rotation unit into a rotation displacement; And a take-off and landing plate provided with the take-off and landing surface and coupled to the buffer rotation part.

The support portion, the lower plate coupled to the rotation shaft connection; And a support shaft formed at a central portion of the lower plate and rotatably supporting the buffer rotation unit.

The buffer rotation unit, the upper plate disposed to be stacked with the support portion; A forward rotation shaft formed in the central portion of the upper plate and rotatably coupled to the support portion; And a buffer elastic body coupled to a lower portion of the forward rotation shaft and elastically deformed by the weight of the unmanned aerial vehicle.

The rotation conversion unit, a spring installed in the rotation center of the buffer rotation unit, both ends extending toward the support portion; A spring receiving portion formed on the support portion and receiving one end portion of the spring movably together with the buffer rotating portion; A spring binding portion formed on the supporting portion and binding the other end of the spring; And formed to protrude on the spring receiving portion, arranged at a set relative angle with the spring binding portion, the one end of the spring is caught and in elastic contact, and when the buffer rotating portion descends, one end of the spring descends and is engaged. It characterized in that it comprises a; spring engaging portion is released.

The spring may include a coil spring installed in a vertical direction at a center of rotation of the buffer rotation unit; A reference end formed on the coil spring part to extend toward the receiving part and disposed on the spring binding part; And formed to extend toward the support part under the coil spring part, and elastically contacted by the spring catching part at a set relative angle with the reference end, and the state of the spring catching part is released when the buffer rotation part descends. It characterized in that it comprises a; and a moving end for elastic restoration that is moved toward the reference end.

The rotation conversion unit is formed in communication between the spring receiving portion and the spring binding portion, the spring insertion guide portion having a width through which the end of the spring can pass; characterized in that it further comprises.

The horizontal take-off and landing unit may further include a stopper unit for restraining the rotation of the buffer rotation unit within a set angle.

The stopper part may include a locking protrusion formed on the support part to protrude toward the buffer rotation part; And a locking groove formed on the buffer rotating part to have a width corresponding to a set angle, and having an edge portion in contact with the locking protrusion.

The locking groove portion, a locking hole portion into which the locking projection is inserted; A first engaging end formed at a counterclockwise end portion of the engaging hole portion and configured to be caught by the engaging protrusion to restrain clockwise rotation of the buffer rotating portion; And a second locking end formed at a clockwise end of the locking hole part, disposed at a set angle with the first locking end, and being caught by the locking protrusion to restrain the counterclockwise rotation of the buffer rotating part. It is characterized.

The horizontal maintenance weight portion is characterized in that it has a hemispherical shape whose width is reduced toward a lower side.

In the take-off and landing apparatus of an unmanned aerial vehicle according to the present invention, even if the fixed support part is inclined, the horizontal maintenance rotation part maintains the initial horizontal state as it is while having relative angles in the x and y directions with respect to the fixed support part. Accordingly, even if it is installed on a rough terrain having an inclined surface or an irregular ground shape, the horizontal rotating unit maintains the horizontal state.

Therefore, it is possible to form and create a flat take-off and landing surface on which an unmanned aerial vehicle can stably take off and land on a slope or rough terrain by simply installing the present invention on a set point on a slope or rough terrain, regardless of the shape of the ground, The application can be made universally over flat land, as well as slopes, rough terrain, and the like.

In addition, according to the present invention, as the horizontal maintenance operation is implemented by the mechanical structure of the rotation support part and the horizontal maintenance rotation part, compared to a device implementing the horizontal maintenance operation in an electronic control method, environmental factors such as humidity and temperature difference On the other hand, the durability is strong, the operation can be reliably performed without fear of malfunction due to signal transmission/reception sensitivity, etc., and maintenance and management can be easily performed since there is no need for power supply.

1 is a perspective view schematically showing a take-off and landing apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.
2 is a plan view schematically showing a take-off and landing apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.
3 is a cross-sectional perspective view in the x direction schematically showing a take-off and landing apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.
4 is a cross-sectional perspective view schematically illustrating a take-off and landing apparatus of an unmanned aerial vehicle according to an embodiment of the present invention in a y direction.
5 is a conceptual diagram for explaining the leveling operation of the take-off and landing apparatus of the unmanned aerial vehicle according to an embodiment of the present invention.
6 is an exploded perspective view of a main part showing a horizontal take-off and landing part of the take-off and landing apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.
7 is an exploded perspective view of a main part showing a rotation conversion part of the take-off and landing apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.
8 is an exploded perspective view of a main part showing a rotation conversion part of the take-off and landing apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.
9 is a conceptual diagram for explaining the operation of the stopper unit and the rotation conversion unit of the take-off and landing apparatus of the unmanned aerial vehicle according to an embodiment of the present invention.

Hereinafter, an embodiment of a take-off and landing apparatus for an unmanned aerial vehicle according to the present invention will be described with reference to the accompanying drawings. In this process, thicknesses of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention and may vary according to the intention or custom of users or operators. Therefore, definitions of these terms should be made based on the contents throughout the present specification.

1 is a perspective view schematically showing a take-off and landing apparatus of an unmanned aerial vehicle according to an embodiment of the present invention, and FIG. 2 is a plan view schematically showing a take-off and landing apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.

1 and 2, the take-off and landing apparatus 1 of an unmanned aerial vehicle according to an embodiment of the present invention includes a fixed support 10, a rotation support 20, and a horizontal maintenance rotation unit 30.

The fixed support part 10 is a device part that supports the rotation support part 20 and the horizontal maintenance rotation part 30 rotatably in the air, and is mounted on the ground. The rotation support part 20 is rotatably installed in the first direction on the inside of the fixed support part 10. The horizontal maintaining rotation unit 30 is rotatably installed in a second direction perpendicular to the first direction inside the rotation support unit 20 having a ring shape.

In the following description of the present invention, for convenience of explanation, the first direction is referred to as the x direction in FIGS. 1 and 2, and the second direction is referred to as the y direction. The rotation support part 20 can be freely rotated about the x direction with respect to the fixed support part 10, and the horizontal holding rotation part 30 can freely rotate about the y direction with respect to the rotation support part 20. . Accordingly, the horizontal maintaining rotation unit 30 may have relative angles in the x direction and the y direction with respect to the fixed support unit 10.

A take-off and landing surface capable of taking off and landing of an unmanned aerial vehicle (not shown) such as a drone is formed on the top of the horizontal maintenance rotating part 30, and the center of gravity is located at the bottom. As the center of gravity of the horizontal holding rotating unit 30 is located at the bottom, even if the fixed supporting unit 10 is inclined, the horizontal rotating rotating unit 30 has a relative angle in the x and y directions with respect to the fixed supporting unit 10. While having, it maintains the initial horizontal state as it is.

Referring to Figures 1 and 2, the fixed support portion 10 according to an embodiment of the present invention includes a casing portion 11 and a take-off and landing opening portion 14.

The casing 11 has a box shape capable of accommodating the rotating support part 20 and the horizontal holding rotating part 30. The take-off and landing opening portion 14 is formed to be open on the upper portion of the casing portion 11 for vertical take-off and landing of the unmanned aerial vehicle. By the casing 11, it is possible to safely protect the rotational support 20 and the horizontal maintenance rotation 30 in all directions except for the take-off and landing opening 14 against various interference factors in the surrounding environment.

In addition, the present invention can be easily moved and stored in a state in which the rotating support part 20 and the horizontal holding rotating part 30 are accommodated in the casing part 11. Referring to FIGS. 1 and 2, the casing part 11 according to an embodiment of the present invention includes a seating part 12 and an extension support part 13.

The seating portion 12 is a device portion that is seated on the ground, and has a seating surface that can be seated on the ground. The seating portion 12 according to an embodiment of the present invention has a shape of a flat plate having a width corresponding to the rotation support portion 20, but is not limited thereto. If the seating portion 12 according to the present invention can be stably seated and fixed on the ground, its structure is not specifically limited, and may have various other shapes according to the shape and characteristics of the ground.

The extension support part 13 is a device that supports the rotation support part 20 so as to be rotatable in the air, and is formed to extend upward on the seating part 12. The extension support part 13 is formed at a height that allows the horizontal maintenance rotation part 30 to be spaced apart from the ground or the seating part 12. The extension support part 13 according to an embodiment of the present invention has a shape of a rectangular partition wall or a frame having a set height, but is not limited thereto. As long as the extension support part 13 according to an embodiment of the present invention can support the rotation support part 20 in a fixed position, its structure is not specifically limited, and may have a shape of a post extending vertically.

3 is a cross-sectional perspective view in the x direction schematically showing the take-off and landing apparatus of the unmanned aerial vehicle according to an embodiment of the present invention, and FIG. 4 is a y-direction schematically showing the take-off and landing apparatus of the unmanned aerial vehicle according to an embodiment of the present invention. It is a cross-sectional perspective view.

1 to 3, the rotation support part 20 according to an embodiment of the present invention includes a first rotation shaft 21 and a rotation ring 22.

The first rotation shaft 21 is installed to extend in the x direction on both sides of the extension support part 13 in the x direction. That is, the first rotation shaft 21 is provided with a pair installed in the x direction. The pair of first rotation shafts 21 are located coaxially and rotatably support both sides of the rotation ring 22 in the x direction. One axial portion of the first rotation shaft 21 is coupled to the extension support 13, and the other axial portion is coupled to the rotary ring 22.

The rotary ring 22 has a ring shape capable of rotatably supporting the horizontal holding rotary unit 30 without interfering with the horizontal holding rotary unit 30 disposed therein, and is rotatably coupled to the first rotary shaft 21 . Accordingly, the rotation ring 22 may be freely rotated or inclined about the first rotation shaft 21, that is, about the x-axis direction. Accordingly, even if the extension support 13 extending in the z-axis direction is inclined in the y-direction, the rotary ring 22 can maintain a horizontal state in which the upper and lower portions thereof face the z-axis direction.

2 and 4, the horizontal maintenance rotation unit 30 according to an embodiment of the present invention includes a rotation shaft connection unit 31, a horizontal take-off and landing unit 32, and a horizontal maintenance weight unit 38.

The rotation shaft connection part 31 is rotatably coupled to the rotation ring 22 of the rotation support part 20 in the y direction. Referring to FIG. 4, a rotation shaft connection part 31 according to an embodiment of the present invention includes a second rotation shaft 311 and a horizontal retainer 312.

The second rotation shaft 311 is installed to extend in the y direction on both sides of the rotation ring 22 in the y direction. The second rotation shaft 311 extends across the central portion of the horizontal retainer 312 in the y direction, and both ends are coupled to the rotation ring 22. One side of the second rotation shaft 311 in the axial direction is coupled to one side in the y direction of the rotation ring 22, and the other side in the axial direction is coupled to the other side in the y direction of the rotation ring 22. At this time, the second rotation shaft 311 is disposed to be spaced apart from the extension support 13 so as not to interfere with the fixed support 10.

The horizontal holding body 312 has a shape of a disk or a column and is rotatably coupled to the second rotation shaft 311. Accordingly, the horizontal holding member 312 may be freely rotated or inclined with the second rotation shaft 311 as the rotation center, that is, the y-axis direction. Accordingly, even if the extension support part 13 extending in the z-axis direction is inclined in the x direction, the horizontal retainer 312 can maintain a horizontal state in which the upper and lower parts thereof face the z-axis direction.

A horizontal take-off and landing portion 32 and a horizontal holding weight portion 38 are coupled to the upper and lower portions of the horizontal holding body 312, respectively. The horizontal holding weight unit 38 has the center of gravity of the entire horizontal holding unit 30 including the horizontal holding unit 312 so that the horizontal holding unit 312 and the horizontal take-off and landing unit 32 can maintain a horizontal state. It is a device part to be positioned, and is formed with a set weight under the rotation shaft connection part 31.

The horizontal maintenance weight portion 38 has a weight greater than at least the horizontal take-off and landing portion 32. As the weight of the horizontal holding weight part 38 increases, the center of gravity of the horizontal holding rotating part 30 is formed more stably in the lower portion thereof, so that the horizontal holding body 312 against the load acting on the horizontal holding body 312 The horizontal state of can be maintained more stable.

The horizontal maintenance weight portion 38 is formed in a hemispherical shape whose width is reduced toward the lower side. Accordingly, the center of gravity of the horizontal holding rotating unit 30 is positioned at the center of the horizontal holding rotating unit 30, that is, an extension line of the first rotating shaft 21 extending in the x direction, and the second rotating shaft 311 extending in the y direction. Since it can be located at the intersection of the liver, it is not biased toward one side, and the center of gravity of the horizontal maintaining rotation unit 30 can be stably maintained for both the x-direction and y-direction inclination.

5 is a conceptual diagram for explaining the leveling operation of the take-off and landing apparatus of the unmanned aerial vehicle according to an embodiment of the present invention.

As described above, the horizontal maintenance rotation unit 30 by the horizontal maintenance weight unit 38 always acts as a force for the horizontal take-off and landing unit 32 to maintain a horizontal state in the z direction, so the fixed support unit 10 is drawn. As shown in (a) of 5, when installing on an inclined surface having an inclination angle of α°, the rotating ring 22 or the horizontal retainer 312 corresponds to the angular displacement of α°, so that the x or y direction As it rotates naturally based on the reference, the horizontal maintaining rotation unit 30 maintains its horizontal state.

In addition, even if the fixed support 10 is installed on a rough ground having an irregular ground shape as shown in FIG. 5B, that is, even if it is installed on an inclined surface having an inclination angle of β° and γ° in the x and y directions, respectively. , As the rotation ring 22 and the horizontal holding member 312 are naturally rotated based on the x and y directions as corresponding to each displacement of β° and γ°, the horizontal holding rotating part 30 maintains its horizontal state. Is done.

As described above, even if the ground is inclined or has an irregular surface shape, that is, even if the fixed support part 10 is inclined in an arbitrary direction and angle, the horizontal takeoff and landing device of the unmanned aerial vehicle according to the present invention is performed. The holding rotation unit 30 is always maintained in a horizontal state. Accordingly, take-off and landing of the unmanned aerial vehicle can be stably performed regardless of the shape of the ground.

The horizontal take-off and landing part 32 is a device part for taking off and landing of the unmanned aerial vehicle, and is formed flat on the upper part of the rotating shaft connection part 31. The horizontal take-off and landing unit 32 according to an embodiment of the present invention elastically buffers the vertical load acting upon the landing of the unmanned aerial vehicle and at the same time converts the vertical displacement into rotational displacement to consume impact energy, It has a structure capable of effectively attenuating the impact force or vibration applied to the aircraft, the first rotation shaft 21, the second rotation shaft 311, and the like.

6 is an exploded perspective view of a main part showing a horizontal take-off and landing device of an unmanned aerial vehicle according to an embodiment of the present invention, and FIG. 7 is a main part showing a rotation conversion part of the take-off and landing device of an unmanned aerial vehicle according to an embodiment of the present invention. It is an exploded perspective view, and FIG. 8 is an exploded perspective view of a main part showing a rotation conversion part of a take-off and landing apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.

3 and 4, the horizontal take-off and landing part 32 according to an embodiment of the present invention includes a support part 33, a buffer rotation part 34, a rotation conversion part 35, a stopper part 36, and take-off and landing. It includes a plate part (37).

The support part 33 is a device that supports the buffer rotation part 34 rotatably in a fixed position, and is coupled to the upper part of the rotation shaft connection part 31. Referring to FIG. 6, a support part 33 according to an embodiment of the present invention includes a lower plate 331 and a support shaft 332.

The lower plate 331 has a disk shape and is coupled to the upper portion of the rotation shaft connection part 31. The support shaft 332 is a device that rotatably supports the buffer rotation unit 34 and is formed to protrude upward in the center of the lower plate 331, that is, to protrude in the z-axis direction. The support shaft 332 has a cylindrical shape in which the forward rotation shaft 342 of the buffer rotation part 34 can be inserted. More specifically, the support shaft 332 is formed with a shaft insertion groove 333 through which the forward rotation shaft 342 of the buffer rotation part 34 can be inserted from the upper side.

The buffer rotation unit 34 has a structure capable of buffering a vertical load and is rotatably installed on the upper portion of the support unit 33. Referring to FIG. 6, a buffer rotation unit 34 according to an embodiment of the present invention includes an upper plate 341, a forward rotation shaft 342, and a buffer elastic body 343.

The upper plate 341 has a disk shape and is disposed to be stacked on the upper side of the lower plate 331. The forward rotation shaft 342 is formed in the center of the top plate 341 and is rotatably coupled to the forward rotation shaft 342. More specifically, the forward rotation shaft 342 is inserted into the shaft insertion groove 333 of the support shaft 332 from the upper side. A ring-shaped assembly groove 344 corresponding to the support shaft 332 is formed at the periphery of the forward rotation shaft 342 to be recessed upward.

The buffer elastic body 343 is made of an elastic material such as rubber, and is coupled to protrude downward from the lower portion of the forward rotation shaft 342. When the unmanned aerial vehicle lands, the cushioning elastic body 343 undergoes elastic deformation that is flattened in the vertical direction by the weight of the unmanned aerial vehicle, and by this action, the impact force acting on the unmanned aerial vehicle and the upper plate 341 is buffered.

The buffer elastic body 343 according to an embodiment of the present invention has a hemispherical shape whose width gradually decreases toward the lower side, and is seated in the shaft insertion groove 333. By supporting the upper plate 341 upwardly from the lower plate 331 by the buffer elastic body 343, it is possible to prevent excessive frictional contact between the upper plate 341 and the lower plate 331, and the upper plate 341 rotates. The point contact between the lower end of the cushioning elastic body 343 and the support shaft 332 can be made smoothly.

The rotation conversion unit 35 is a device that converts the vertical displacement of the buffer rotation unit 34 into a rotation displacement, and is between the support unit 33 and the buffer rotation unit 34, more specifically, the support shaft 332 and It is installed between the forward rotation shaft 342. 7 and 8, the rotation conversion unit 35 according to an embodiment of the present invention includes a spring 351, a first hole 352, a second hole 353, a spring receiving part 355, It includes a spring binding portion 356, a spring engaging portion 357, a spring insertion guide portion 358.

The spring 351 has a structure of a torsion spring and is fitted to the periphery of the forward rotation shaft 342, and both ends extend toward the support shaft 332. 7 and 8, the spring 351 according to an embodiment of the present invention includes a coil spring part 351a, a reference end 351b, and a moving end 351c.

The coil spring part 351a has a structure of a coil spring and is installed by being fitted in the circumference of the forward rotation shaft 342 in the vertical direction. In a state where the forward rotation shaft 342 is fitted to the support shaft 332, the coil spring portion 351a is disposed between the support shaft 332 of the forward rotation shaft 342.

The reference end portion 351b is a device portion forming the upper end of the coil spring portion 351a and extends toward the receiving portion 33 through the first hole portion 352 formed on the forward rotation shaft 342. The reference end 351b may be formed by bending the upper end of the coil spring 351a in a desired direction. The end of the reference end 351b protruding out of the forward rotation shaft 342 is a support shaft 332. It extends to the side and is disposed on the spring binding portion 356 formed on the upper portion of the support shaft 332.

The moving end portion 351c is a device that forms the lower end of the coil spring portion 351a and extends toward the receiving portion 33 through the second hole portion 353 formed on the forward rotation shaft 342. The moving end portion 351c may be formed by bending the lower end of the coil spring portion 351a in a desired direction. The end of the moving end 351c protruding to the outside of the forward rotation shaft 342 extends toward the support shaft 332 and is disposed in the spring receiving portion 355 formed under the support shaft 332.

The spring 351 is, before being assembled to the support shaft 332, that is, in an initial manufactured state or in a state assembled only on the forward rotation shaft 342, the reference end 351b and the moving end 351c are aligned in the vertical direction. That is, it has a structure arranged on the same vertical line. The moving end 351c is assembled to be caught by the spring-engaged part 357 with the reference end 351b and the set relative angle θ in a state inserted into the spring receiving part 355. That is, the moving end portion 351c is in a state located at the point PA in FIG. 8 and is in elastic contact with the spring engaging portion 357.

The first hole portion 352 is a device that guides the reference end portion 351b toward the spring binding portion 356 and is formed to penetrate the top of the forward rotation shaft 342 in the horizontal direction. The first hole portion 352 is a forward rotation shaft 342 so that the forward rotation shaft 342 can freely rotate at a set relative angle θ with respect to the reference end portion 351b, that is, does not interfere with the rotation of the forward rotation shaft 342. ), a sector corresponding to a set relative angle (θ) or more has a symmetrical shape, or has a long hole shape having a width corresponding to a set relative angle (θ) or more.

The second hole 353 is a device that guides the moving end 351c toward the spring receiving portion 355 and is formed to penetrate the lower portion of the forward rotation shaft 342 in the horizontal direction. The second hole portion 353 extends across the central portion of the forward rotation shaft 342 and is disposed on the same vertical line as the first hole portion 352. The second hole portion 353 has a circular cross-sectional shape corresponding to the moving end portion 351c. Accordingly, the forward rotation shaft 342 and the moving end 351c have the same angular displacement.

By inserting the coil spring part 351a into the circumference of the forward rotation shaft 342, and inserting the reference end 351b and the moving end 351c into the first hole 352 and the second hole 353, respectively, As shown in Figure 8, the assembly between the forward rotation shaft 342 and the spring 351 is made.

The spring receiving portion 355 is a device portion in which the end of the moving end portion 351c that has passed through the second hole portion 353 is accommodated, and is formed to be hollow below the support shaft 332. The spring binding portion 356 is a device portion to which the end of the reference end portion 351b that has passed through the first hole portion 352 is coupled, and is formed to be hollow above the support shaft 332. The spring receiving portion 355 and the spring binding portion 356 are formed to communicate with the shaft insertion groove 333 in which the support shaft 332 and the spring 351 are accommodated.

The spring binding portion 356 has a shape of a slit extending radially from the shaft insertion groove portion 333, and has a shape whose width gradually decreases toward the lower side. Accordingly, by placing the reference end 351b to correspond to the spring binding portion 356 and pressing downward, the reference end 351b can be inserted into the spring binding portion 356 to be pressure-welded and fixed.

The spring engaging portion 357 is formed to protrude downward on the upper surface of the spring receiving portion 355, and is disposed with the spring binding portion 356 and a set relative angle θ. The PB point in FIG. 8 is a point corresponding to the directly under the spring binding portion 356 among the spring receiving portions 355. The PA point has a set relative angle (θ) with respect to the PB point. The moving end portion 351c is located at the point PA in FIG. 8 while being caught by the spring engaging portion 357.

The spring insertion guide part 358 is a device part forming a passage through which the moving end part 351c can be inserted into the spring receiving part 355, and is formed to extend downward from the upper end of the support shaft 332 to the spring receiving part 355, The movable end 351c has a passable width. The spring insertion guide portion 358 according to an embodiment of the present invention is formed to be in communication between the spring receiving portion 355 and the spring binding portion 356, and is formed to extend directly downward.

Accordingly, there is no need to form a plurality of holes or grooves to insert the moving end 351c into the spring receiving unit 355, and the moving end 351c is connected to the spring receiving unit 355 through the spring binding unit 356. It can be easily brought in. The spring insertion guide part 358 according to an embodiment of the present invention has a shape that extends directly downward toward the PA point, but may be formed to be inclined toward another point exceeding the set relative angle θ with respect to the PB point. have. When the spring insertion guide portion 358 is formed to be inclined as described above, it is possible to fundamentally prevent the movable end portion 351c from flowing into the spring insertion guide portion 358 when it is released from the spring engaging portion 357.

9 is a conceptual diagram for explaining the operation of the stopper unit and the rotation conversion unit of the take-off and landing apparatus of the unmanned aerial vehicle according to an embodiment of the present invention.

In the state where the moving end 351c is fastened to the spring binding portion 356, the moving end 351c has a set relative angle θ as shown in Fig. 9A with respect to the reference end 351b. It is in elastic contact with the spring binding portion 356. When the unmanned aerial vehicle lands, the cushioning elastic body 343 is elastically deformed flat by the compressive load acting on the upper plate 341, and the forward rotation shaft 342 and the spring 351 are equal to the amount of deformation in the vertical direction of the buffer elastic body 343. They descend together.

At this time, the moving end portion 351c descends together with the forward rotation shaft 342 and is released from the spring binding portion 356, and at the same time performs elastic restoration moving toward the reference end portion 351b. That is, the moving end 351c is moved from the PA point to the PB point by a distance corresponding to the set relative angle θ. In addition, the forward rotation shaft 342 and the top plate 341 are rotated at an angle corresponding to the set relative angle θ. By this action, it is possible to implement an operation that buffers the vertical impact force caused by the landing of the unmanned aerial vehicle and at the same time converts it into rotational displacement and consumes it.

According to the present invention, in the state as shown in (a) of FIG. 9, the moving end 351c is moved as shown in (b) of FIG. 9 by a downward impact force acting upon landing of the unmanned aerial vehicle. The rotation shaft 342 and the top plate 341 are rotated together. After the unmanned aerial vehicle is landed once, by rotating the top plate 341, it can be easily reset to the state shown in FIG. 9(a). During take-off of the unmanned aerial vehicle, the downward impact force as described above does not act, so the state as shown in (a) of FIG. 9 is maintained.

The stopper part 36 is a device part that restricts the rotation of the buffer rotation part 34 within a set angle in order to stably implement the operation of the rotation conversion part 35 as described above. Here, the set angle may be set to correspond to the set relative angle θ. 6 and 9, the stopper part 36 according to an embodiment of the present invention includes a locking protrusion 361 and a locking groove 362.

The locking protrusion 361 is formed on the support part 33 to protrude toward the buffer rotation part 34. The locking protrusion 361 may include an elastic material such as rubber capable of buffering a contact force with the locking groove 362. The locking groove 362 is formed on the upper plate 341 to have a width corresponding to the set angle, and the edge portion contacts the locking protrusion 361. Referring to FIG. 9, a locking groove 362 according to an embodiment of the present invention includes a locking hole 363, a first locking end 364, and a second locking end 365.

The locking hole 363 is a device portion into which the locking protrusion 361 is inserted, and is formed to penetrate the upper plate 341 with a width corresponding to the set relative angle θ. The first locking end 364 is formed at the counterclockwise end of the locking hole 363, and is caught by the locking protrusion 361 as shown in (a) of FIG. 9 to rotate the buffer rotation part 34 in a clockwise direction. Redeem. The second engaging end 365 is formed at the clockwise end of the engaging hole 363 and is disposed at a set relative angle θ with the first engaging end 364, as shown in FIG. 9B. Likewise, it is caught by the locking projection 361 and restrains the counterclockwise rotation of the buffer rotating part 34.

The take-off and landing plate 37 is a device that provides a take-off and landing surface on which the unmanned aerial vehicle can take off and land, is coupled to an upper portion of the upper plate 341 and is located at the top of the horizontal maintenance rotation unit 30. The take-off and landing plate part 37 may include a cushioning material such as rubber. When the take-off and landing plate part 37 is formed of a cushioning material, the impact force generated during the landing of the unmanned aerial vehicle can be multiplely buffered by the take-off and landing plate part 37 and the cushioning elastic body 343.

According to the take-off and landing device 1 of the unmanned aerial vehicle according to the present invention having the configuration as described above, even if the fixed support portion 10 is inclined, the horizontal maintenance rotating portion 30 is in the x direction and y direction with respect to the fixed support portion 10 The initial horizontal state is maintained as it is while having a relative angle of. Accordingly, even if it is installed on a rough ground having an inclined surface or an irregular ground shape, the horizontal holding rotation unit 30 maintains the horizontal state.

Therefore, it is possible to form and create a flat take-off and landing surface on which an unmanned aerial vehicle can stably take off and land on a slope or rough terrain by simply installing the present invention on a set point on a slope or rough terrain, regardless of the shape of the ground, The application can be made universally over flat land, as well as slopes, rough terrain, and the like.

In addition, according to the present invention, as the horizontal maintenance operation is implemented by the mechanical structure of the rotation support part 20 and the horizontal maintenance rotation part 30, compared with a device implementing the horizontal maintenance operation in an electronic control method, the humidity and temperature difference Durability is strong against environmental factors such as, and the operation can be reliably performed without fear of malfunction due to signal transmission/reception sensitivity, etc., and maintenance and management can be easily performed since there is no need for power supply.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is only illustrative, and those of ordinary skill in the field to which the technology pertains, various modifications and other equivalent embodiments are possible. I will understand. Therefore, the true technical protection scope of the present invention should be determined by the following claims.

1: take-off and landing device of unmanned aerial vehicle 10: fixed support
11: casing part 12: seating part
13: extension support 14: take-off and landing opening
20: rotation support 21: first rotation shaft
22: rotating ring 30: horizontal holding rotating part
31: rotary shaft connection 32: horizontal take-off and landing
33: support portion 34: buffer rotation portion
35: rotation conversion unit 36: stopper unit
37: take-off and landing plate portion 38: horizontal maintenance weight portion
311: second rotating shaft 312: horizontal holding body
331: lower plate 332: support shaft
333: shaft insertion groove 341: upper plate
342: forward rotation shaft 343: buffer elastic body
344: assembly groove 351: spring
351a: coil spring part 351b: reference end
351c: moving end 352: first hole
353: second hole portion 355: spring receiving portion
356: spring binding portion 357: spring engaging portion
358: spring insertion guide 361: locking protrusion
362: locking groove 363: locking hole
364: first engaging end 365: second engaging end

Claims (16)

Fixed support;
A rotation support part rotatably installed in a first direction on the fixed support part; And
Includes; a horizontal maintenance rotation unit that is rotatably installed in the rotation support unit about a second direction perpendicular to the first direction, a take-off and landing surface capable of taking off and landing of an unmanned aerial vehicle is formed at an upper portion, and a center of gravity is located at a lower portion. and,
The rotation support part,
A first rotation shaft installed in the first direction on the fixed support portion; And
And a rotation ring that has a ring shape, is rotatably coupled to the first rotation shaft, and rotatably supports the horizontal holding rotation unit.
The method of claim 1,
The fixed support part,
A casing unit capable of receiving the horizontal maintaining rotation unit; And
And a take-off and landing opening portion formed to be opened on the upper portion of the casing portion.
The method according to claim 1 or 2,
The fixed support part,
A seating portion that is seated on the ground; And
And an extension support portion connected to the landing portion and rotatably supporting the rotation support portion.
delete Fixed support;
A rotation support part rotatably installed in a first direction on the fixed support part; And
Includes; a horizontal maintenance rotation unit that is rotatably installed in the rotation support unit about a second direction perpendicular to the first direction, a take-off and landing surface capable of taking off and landing of an unmanned aerial vehicle is formed at an upper portion, and a center of gravity is located at a lower portion. and,
The horizontal maintenance rotation unit,
A rotation shaft connection part rotatably installed in the rotation support part about the second direction;
A horizontal take-off and landing unit formed on the upper portion of the rotational shaft connection part and on which the take-off and landing surface is formed; And
And a horizontal maintenance weight unit formed under the rotation shaft connection unit and having a greater weight than the horizontal take-off and landing unit.
The method of claim 5,
The rotating shaft connection part,
A second rotation shaft installed in the second direction on the rotation support portion; And
And a horizontal holding body rotatably coupled to the second rotational shaft and in which the horizontal take-off and landing portion and the horizontal maintenance weight portion are coupled; and a take-off and landing apparatus for an unmanned aerial vehicle.
The method of claim 5,
The horizontal take-off and landing unit,
A support part formed on the rotation shaft connection part;
A buffer rotation unit rotatably installed on the support;
A rotation conversion unit installed between the support unit and the buffer rotation unit and converting a vertical displacement of the buffer rotation unit into a rotation displacement; And
And a take-off and landing plate portion provided with the take-off and landing surface and coupled to the buffer rotation unit.
The method of claim 7,
The support part,
A lower plate coupled to the rotating shaft connection; And
And a support shaft formed in the center of the lower plate and rotatably supporting the buffer rotation unit.
The method of claim 7,
The buffer rotation part,
An upper plate disposed to be stacked with the support portion;
A forward rotation shaft formed in the central portion of the upper plate and rotatably coupled to the support portion; And
And a buffer elastic body coupled to a lower portion of the forward rotation shaft and elastically deformed by the weight of the unmanned aerial vehicle.
The method of claim 7,
The rotation conversion unit,
A spring installed at the center of rotation of the buffer rotation unit and extending toward the support at both ends thereof;
A spring receiving portion formed on the support portion and receiving one end portion of the spring movably together with the buffer rotating portion;
A spring binding portion formed on the supporting portion and binding the other end of the spring; And
It is formed to protrude on the spring receiving part, is disposed at a set relative angle with the spring binding part, and is in elastic contact with one end of the spring. Take-off and landing device of an unmanned aerial vehicle comprising a; spring-engaged portion to be released.
The method of claim 10,
The spring,
A coil spring part installed in a vertical direction in the rotation center of the buffer rotation part;
A reference end formed on the coil spring part to extend toward the receiving part and disposed on the spring binding part; And
It is formed so as to extend toward the support part under the coil spring part, is caught in elastic contact with the spring catching part at a set relative angle with the reference end part, and the state of the spring catching part is released when the buffer rotating part descends. And a moving end for elastic restoration that is moved toward the reference end.
The method of claim 10,
The rotation conversion unit,
And a spring insertion guide portion formed in communication between the spring receiving portion and the spring binding portion and having a width through which the end of the spring can pass.
The method of claim 7,
The horizontal take-off and landing unit,
A stopper unit for restraining the rotation of the buffer rotation unit within a set angle; take-off and landing apparatus for an unmanned aerial vehicle further comprising.
The method of claim 13,
The stopper part,
A locking protrusion formed on the support part to protrude toward the buffer rotation part; And
And a locking groove formed on the buffer rotation unit to have a width corresponding to a set angle, and having an edge portion in contact with the locking protrusion.
The method of claim 14,
The locking groove portion,
A locking hole into which the locking protrusion is inserted;
A first engaging end formed at a counterclockwise end portion of the engaging hole portion and configured to be caught by the engaging protrusion to restrain clockwise rotation of the buffer rotating portion; And
And a second engaging end formed at a clockwise end of the engaging hole part, disposed at a set angle with the first engaging end, and caught by the engaging protrusion to restrain counterclockwise rotation of the buffer rotating part. The take-off and landing device of an unmanned aerial vehicle.
The method of claim 5,
The horizontal maintenance weight part,
Take-off and landing apparatus of an unmanned aerial vehicle, characterized in that it has a hemispherical shape whose width decreases toward the lower side.

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