KR102208350B1 - Aircraft capable of maintaining flight performance using joints - Google Patents

Abstract

The present invention separates the body part on which the rotorcraft required for flight is mounted and the transport part provided with an accommodation space for transporting passengers or cargo by using a joint part composed of two degrees of freedom joints, despite changes in the posture of the body part due to flight. And it relates to a rotorcraft type aircraft capable of maintaining a constant flight performance even if the amount of passengers or cargo increases by ensuring that the attitude of the transport unit is always kept constant.
The multi-rotor type vehicle capable of maintaining flight performance using a two-degree of freedom joint according to the present invention includes a plurality of frames to which the rotorcraft are respectively fastened, and a flight control device that controls the rotorcraft, and the posture changes when rotating in flight. A two-degree of freedom joint in which the main body part, the accommodation space for receiving passengers or cargo is formed inside, and the posture is kept constant during flight, one end is connected to the lower part of the body part, and the other end is connected to the upper part of the transport part It consists of one or more joints that separate the movement of the body part and the transport part according to the flight, a plurality of driving parts that rotate and expand and contract the axis, and change the posture of the body part, but keep the posture of the transport part constant, and the body during flight of the rotorcraft. It is characterized in that it is configured to include a posture control unit that controls a plurality of driving units so that the posture of the negative can be changed, but the posture of the transport unit is kept constant.

Description

Aircraft capable of maintaining flight performance using joints

The present invention relates to a rotorcraft aircraft capable of maintaining flight performance using two degrees of freedom joints, and more particularly, to a body portion on which a rotorcraft required for flight is mounted and an accommodation space for transporting passengers or cargo is provided. By separating the transport part using joints composed of 2 degrees of freedom joints, the posture of the transport part can always be kept constant despite changes in the posture of the body part due to flight, so that even if the amount of passengers or cargo increases, flight performance can be kept constant. It relates to a rotorcraft aircraft.

In general, a small rotorcraft, represented by the name drone, is widely used in various fields for shooting, research, and transportation in recent years, unlike the initial use that was developed and used for military purposes. Due to its relatively small size compared to airfoil or large rotorcraft helicopters, the flight time is short and it is vulnerable to disturbances such as strong winds.

Therefore, it is possible to extend the flight time of a small rotorcraft and various methods for improving flight performance have been proposed. In particular, as an invention for improving flight performance, the “unmanned aerial vehicle” in Korean Patent Publication No. 10-1583469 Aerodynamic performance improvement device of the Korean Patent Application Publication No. 10-1618961 and “unmanned aerial vehicle having an improved main wing to improve aerodynamic performance”, “Stable flight under variable weather conditions” in Korean Patent Application Publication No. 10-2017-0087370 A possible unmanned aerial vehicle” and “a hybrid unmanned aerial vehicle capable of stable flight” of Korean Patent Publication No. 10-1918439 have been proposed and disclosed.

In the "Aerodynamic performance improvement device of unmanned aerial vehicle" of the Korean Patent Publication No. 10-1583469, a blade installed to protrude from the tip of the main wing when the angle of attack of the main wing increases by more than a certain angle creates a vortex at the tip of the main wing. By being configured to generate, it is possible to prevent separation of flow on the main wing, and through this, an invention related to a device capable of exerting an effect of increasing lift and reducing drag while preventing stall has been proposed. In Patent Publication No. 10-1618961, “Unmanned Aerial Vehicles with Improved Main Wings for Improved Aerodynamic Performance”, the movable wing provided at the end of the wing body of the main wing is configured to move relative to the wing body so that the angle to the wing body can be adjusted. As a result, it is possible to obtain improved lift by adjusting the angle of attack condition only by the movement of the movable wing without adjusting the angle of attack of the fuselage during flight, and as a result, an invention related to an aircraft capable of improving aerodynamic performance has been proposed.

In addition, the “unmanned aerial vehicle capable of stable flight even under variable weather conditions” of the Korean Patent Application Publication No. 10-2017-0087370 is configured to extend downward from the body corresponding to the body of the aircraft, and rotates by a predetermined angle in a predetermined direction. An invention related to an aircraft capable of stable flight, such as maintaining flight speed and equilibrium even in environments with severe wind speed changes, has been proposed by mounting an adaptive propeller to cope with strong wind at the end of the leg portion configured to be capable of , The “hybrid unmanned aerial vehicle that performs stable flight” of the Korean Patent Publication No. 10-1918439 is configured to change the shape of the fuselage extension from a fixed wing shape to a rotary wing shape or from a rotary wing shape to a fixed wing shape during flight. In the case of the city, the invention of an aircraft that can increase the cruising distance by using a fixed wing shape advantageous for horizontal flight, and solve the disturbance problem by using a rotary wing shape advantageous for takeoff and landing during vertical take-off and landing has been proposed.

However, even in the prior inventions as described above, if the difference between the design weight and the actual flight weight occurs largely due to the increase in the amount of cargo to be loaded, the flight performance is inevitably degraded, and the flight performance is degraded and disturbances such as gusts When a situation arises, the stability may be greatly reduced and a fall may occur.

Therefore, even if the weight of passengers or cargo is close to the design weight or exceeds the design weight within a certain range, there is a need for an invention regarding an aircraft that can prevent a fall due to disturbance by being configured to stably maintain flight performance.

Korean Registered Patent Publication No. 10-1583469 (2016. 01. 04) Republic of Korea Patent Publication No. 10-1618961 (2016. 04. 29) Korean Patent Application Publication No. 10-2017-0087370 (2017. 07. 28) Korean Patent Publication No. 10-1918439 (2018. 11. 07)

A rotorcraft aircraft capable of maintaining flight performance using a two-degree of freedom joint according to the present invention is a technology proposed to solve the problems of the prior inventions as described above,

If the weight of passengers or cargo mounted on the vehicle approaches or exceeds the design weight, flight performance is significantly deteriorated.Therefore, it is a problem that the flight stabilization in disturbance situations such as rotating or gusts during flight may fail and lead to a fall. Since there was, the purpose is to present a solution to this.

The present invention is to achieve the above object,

A rotorcraft type vehicle for transporting passengers or cargo, comprising: a main body configured to include a plurality of frames to which the rotorcraft are respectively fastened and a flight control device for controlling the rotorcraft, and whose posture is changed during rotational flight; A transport unit having an accommodation space for accommodating passengers or cargo formed therein, and maintaining a constant posture during flight; One or more joints consisting of two degrees of freedom joints having one end connected to the lower part of the body part and the other end connected to the upper part of the transport part to separate the movement of the body part and the transport part according to flight; A plurality of driving parts that rotate and expand and contract the axis, and change the posture of the main body but maintain the posture of the transport part constant; And a posture control unit controlling the plurality of driving units so that the posture of the main body part can be changed during the flight of the rotorcraft, but the posture of the transport part is kept constant. It proposes a rotorcraft type aircraft capable of maintaining flight performance using a two degree of freedom joint, characterized in that it is configured to include.

A rotorcraft-type aircraft capable of maintaining flight performance using two degrees of freedom joint according to the present invention,

The body part provided for flight of the aircraft and the transport part provided to accommodate passengers or cargo are connected to each other through joints composed of 2 degrees of freedom joints, so that the posture of the transport part is always kept constant despite changes in the posture of the body part. Thus, even when the weight of the cargo mounted on the aircraft approaches or exceeds the design weight, the effect of stably maintaining flight performance occurs.

1 is an external perspective view of a rotorcraft-type aircraft capable of maintaining flight performance using a two-degree of freedom joint according to the present invention.
2(a) to 2(c) are exemplary views showing the movement of the body part and the transport part separated by the joint part of a rotorcraft-type aircraft capable of maintaining flight performance using a two-degree of freedom joint according to the present invention.
3 is a configuration diagram of a posture control unit of a rotorcraft capable of maintaining flight performance using a two degree of freedom joint according to the present invention.

The present invention relates to a rotorcraft aircraft capable of maintaining flight performance using 2 degrees of freedom joint,

A rotorcraft type vehicle for transporting passengers or cargo, comprising: a body portion 100 comprising a plurality of frames to which the rotorcraft are respectively fastened and a flight control device for controlling the rotorcraft, and whose posture is changed during rotational flight; A transport unit 110 having an accommodation space for accommodating passengers or cargo formed therein, and maintaining a constant posture during flight; One end is connected to the lower part of the main body 100 and the other end is composed of a two degree of freedom joint connected to the upper part of the transport unit 110 to separate the movement of the main body part 100 and the transport part 110 according to the flight. One or more joints 120 to make; A plurality of driving units 130 that rotate and expand and contract the axis, and change the posture of the main body 100 while maintaining a constant posture of the transport unit 110; And a posture control unit 140 for controlling the plurality of driving units 130 so that the posture of the body part 100 can be changed during the flight of the rotorcraft, but the posture of the transport unit 110 is kept constant. ; It relates to a rotorcraft type aircraft capable of maintaining flight performance using a two degree of freedom joint, characterized in that it is configured to include.

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

First, as shown in FIG. 1, the main body 100 includes a plurality of frames to which a rotor is respectively fastened to an end portion, a plurality of drive motors for rotating each rotor are provided, and the rotation speed of the rotor blade, etc. Control, more specifically, a flight control device that controls the flight of the rotorcraft by controlling the plurality of drive motors, and has the same or similar form as that of a general drone.

In addition, the main body 100 may be provided with a battery that supplies power necessary for the flight of the rotorcraft, may be provided with a camera for photographing surrounding images, the latitude, longitude, etc. where the rotorcraft is currently located. A GPS device for calculating the coordinate information of may be provided, and a communication device for transmitting the captured image and the calculated coordinate information to the outside and receiving a control signal from the outside may be provided.

Accordingly, the main body 100 can be taken off and landed by the flight control device and a plurality of rotorcrafts that are controlled and rotated accordingly, can move and fly at various speeds, can fly at a stop, and can be operated by the camera. The captured image and coordinate information calculated by the GPS device may be used for flight control of the rotorcraft by a user, etc., and may be used as data for various purposes in the future.

That is, since the present invention relates to a rotorcraft vehicle that transports passengers or cargo, the user can check the image captured by the camera and control the rotorcraft vehicle through the controller, and in the control process, the GPS device Coordinate information calculated by can be used.

In addition, the rotorcraft aircraft can be controlled by an automatic control method, and the user can monitor the flight status by checking the image captured by the camera and the coordinate information calculated by the GPS device, and if necessary It can be directly involved in control through the controller.

In addition, as shown in Fig. 1, the transport unit 110 is a case in which an accommodation space for safely transporting and receiving passengers or cargo is formed inside, and an opening and closing entrance for entering and exiting passengers or cargo is provided on one side. In addition, a locking device that prevents automatic opening may be provided inside or outside of the retractable entrance, and various shapes, sizes, and weights are configured in consideration of the output performance of the body unit 100 Can be.

In addition, a battery for supplying power to the main body 100 may be provided in the transport unit 110, and the battery provided in the transport unit 110 may be provided in place of a battery that may be provided in the main unit 100. It may be provided or assisted with a battery provided in the main body 100.

Therefore, considering the weight of passengers or cargo that can be accommodated in the accommodation space inside the transport unit 110, the total weight of the transport unit 110 is likely to exceed the weight of the main body 100 by several times or more. , In addition to this, in consideration of the shape of a general drone in which a plurality of rotor blades are installed upward, the present invention is configured such that the transport unit 110 is positioned under the main body 100, so that the transport unit 110 is Compared to other forms such as being located above, the rotorcraft type aircraft can be stably flying.

In addition, as shown in Figs. 2(a) to 2(c), the joint part 120 is a connector that connects the transport part 110 to the main body part 100, and may be composed of one or more. And, in the case of a plurality of configurations to improve the coupling force and stability between the main body 100 and the transport unit 110, one is installed toward the front of the main body 100 and the other is the rear of the main body 100 It is preferable that they are installed to be spaced apart from each other at regular intervals in the form of a row that is installed toward the side.

At this time, the joint portion 120 is composed of a two-degree of freedom joint, one end is connected to the lower end of the body portion 100, the other end is connected to the top of the transport unit 110, so that the body part 100 to fly This allows the transport unit 110 to be stably transported, but separates the movement of the body unit 100 and the transport unit 110 according to the flight.

Therefore, despite the change in the posture of the main body 100 according to the flight, the posture of the transport unit 110 can always be kept constant, and accordingly, the weight of passengers or cargo accommodated in the transport unit 110 increases. Thus, in general, even if the flight performance may be deteriorated, the present invention produces the effect of maintaining a constant flight performance in the design of the main body 100.

That is, in a general rotorcraft aircraft, the body must be inclined at a certain angle forward in order to fly straight forward, and the body must be inclined at a certain angle to the left or right to fly, so the device connected to the rotorcraft aircraft must also be in the same direction. Although the configuration is inclined, the present invention connects the body part 100 and the transport part 110 through the joint part 120 composed of a two degree of freedom joint, so that the transport part 110 according to the inclination of the body part 100 It is a configuration that prevents the inclination of ).

As an embodiment of the present invention, in the case of rotational flight in which the posture change of the main body 100 occurs the most, the main body 100 is inclined to one side so that the heights of one side and the other side are different, In addition, even the centrifugal force acts upon rotation, but the present invention is configured to separate the movement of the body portion 100 and the transport portion 110, the joint portion 120 consisting of two degrees of freedom joint, the body portion 100 Is inclined to one side, but the inclination of the transport unit 110 may be prevented.

Accordingly, the passenger or cargo accommodated in the transport unit 110 is prevented or minimized from shaking so that the boarded or loaded state is maintained despite the rapid rotational flight of the main body unit 100. do.

In addition, when the joint portion 120 is used to prevent an increase in the moment of rotational inertia of the rotorcraft type aircraft, the following effects can be obtained from the viewpoint of flight control.

That is, even if the passenger or cargo accommodated in the transport unit 110 approaches the design weight or exceeds the design weight within a certain range, the increase in weight does not affect the rotational moment of inertia of the main body 100 The attitude response performance of the unit 100 may be maintained, and accordingly, an effect of continuously maintaining a stable flight state even in a disturbance situation such as a gust occurs.

In addition, since there is no change in the moment of rotational inertia of the main body 100, the output in the longitudinal and transverse directions of the control device for controlling the flight of the main body 100 may increase or may not reach a limit point, and accordingly, the battery A margin of flight performance is ensured, such as saving the power consumption of the vehicle, which in turn contributes to the stable flight of the rotorcraft.

However, as the weight of the transport unit 110 increases, the load in the vertical direction is increased on the rotorcraft, so an increase in thrust required for flight cannot be avoided.

However, when the required thrust increases as the weight of the transport unit 110 increases, the following positive effects occur.

For example, when the posture of the main body 100 is inclined forward by a certain angle, a horizontal component is formed to start a straight flight of the main body 100. As the weight of the transport unit 110 increases, such horizontal Since the component force increases together, the increase in the horizontal component force offsets the slowdown of the mobility due to the increase in the weight of the transport unit 110, thereby maintaining a constant mobility.

However, in this way, only the configuration in which the main body part 100 and the transport part 110 are connected by the joint part 120 composed of a two degree of freedom joint is the rotational force generated when the body part 100 rotates Since the transfer to the transport unit 110 cannot be completely blocked, the transport unit 110 may be temporarily inclined or shaken, and if the weight of the transport unit 110 is excessive, the posture of the body unit 100 due to the weight There is a problem that can not be changed smoothly.

In order to solve this problem, the plurality of driving units 130 are axially rotated and stretched, and the posture of the body unit 100 is smoothly changed regardless of the weight of the transport unit 110, and accordingly, the transport unit 110 As a device for maintaining a constant posture of the body portion, characterized in that it is installed at equal intervals on the left and right sides of the joint portion 120 based on the front and rear of the body portion 100, and in addition to this, the joint portion 120 It may be installed on the front side or the rear side of the joint portion 120, and may be installed on either the left side or the right side of the joint portion 120 and installed on either the front side or the rear side.

That is, the main body 100 must be inclined to the front to fly straight forward, and to be inclined to the left or right at a certain angle to fly, but the weight of the transport unit 110 is the design of the main body 100 When the weight of the transport unit 110 is lighter than the weight, the transport unit 110 may be shaken according to a change in the posture of the body unit 100, and when the weight of the transport unit 110 is close to or heavier than the design weight of the body unit 100, the body unit Since the change of the posture of the 100 is not smooth, the plurality of driving units 130 are rotated and lengthened as shown in FIGS. 2(a) to 2(c), so that the transport unit 110 By pushing the transport unit 110 to maintain a constant posture, but the posture of the main body 100 can be changed, and the other assists the other driving unit 130 to extend the length by rotating the axis and shortening the length. And supports the main body 100.

Specifically, the driving unit 130 is installed so that one end portion is axially rotatable under the main body portion 100, the other end portion is installed to contact the upper portion of the transport unit 110, and extends the length and It is configured in a form that can be shortened, the axis is rotated, the length is extended or shortened, and the posture of the main body 100 is changed, but the posture of the transport unit 110 is kept constant.

At this time, a circular elastic body having elasticity may be provided at the other end portion of the driving unit 130 that is in contact with the upper portion of the transport unit 110, and accordingly, the other end of the driving unit 130 is Even when the contact point moves while in contact with the upper part of the transport part 110 according to a change in posture, the occurrence of vibration in the main body part 100 and the transport part 110 is minimized by minimizing the impact caused by friction with the upper part of the transport part 110 You can do it.

The attitude control unit 140 is a control device for controlling the plurality of driving units 130 to maintain a constant posture of the transport unit 110 during flight of the rotorcraft, and the flight of the main body unit 100 Depending on the speed, the bank angle required for rotational flight is calculated in advance, and the main body 100 rotates the axis as soon as it rotates, the length is extended or shortened, and the angle of the joint 120 is tilted at the same angle as the calculated bank angle. To be able to lose.

Therefore, as shown in Figure 3, the attitude control unit 140 is a measuring unit 141 that measures the flight speed of the rotorcraft in real time, a bank required for rotational flight based on the flight speed measured in real time. The calculation unit 142 and the main unit 100 calculate the movement of each of the plurality of driving units 130 according to the direction in which the main unit 100 rotates based on the calculated angle in real time and the calculated bank angle ) Is configured to include an execution unit 143 that controls the movement of each of the plurality of driving units 130 according to the calculated value according to the rotational flight direction, and in addition, the rotorcraft in static flight The plurality of driving units 130 by calculating the inclination of the main body 100 required to increase or decrease the speed of the rotorcraft flying at a certain speed or to increase or decrease the speed of the rotorcraft flying at a certain speed at a certain speed. Can be controlled.

At this time, the plurality of driving units 130 push the body unit 100 and the force to adjust the angle of the joint unit 120 must be formed differently according to the weight of the transport unit 110, so the passenger or cargo to be mounted The weight of may be measured in advance before takeoff and input to the posture control unit 140.

The embodiments introduced above are provided by way of example in order to sufficiently convey the technical idea of the present invention to those of ordinary skill in the technical field to which the present invention pertains, and the present invention is based on the above-described embodiments. It is not limited and may be embodied in other forms.

In order to clearly describe the present invention, parts irrelevant to the description are omitted from the drawings, and in the drawings, the width, length, thickness, etc. of the components may be exaggerated or reduced for convenience.

In addition, the same reference numbers throughout the specification indicate the same elements.

100: main body
110: Transportation Department
120: joint
130: drive unit
140: posture control unit
141: measuring unit
142: calculator
143: executive

Claims (5)

In a rotorcraft vehicle for transporting passengers or cargo,
A body portion 100 comprising a plurality of frames to which the rotorcraft are respectively fastened and a flight control device for controlling the rotorcraft, and whose posture is changed during rotational flight;
A transport unit 110 having an accommodation space for accommodating passengers or cargo formed therein, and maintaining a constant posture during flight;
One end is connected to the lower part of the main body 100, and the other end is composed of a two degree of freedom joint connected to the upper part of the transport unit 110, so that the movement of the body part 100 and the transport part 110 according to the flight One or more joints 120 to separate;
Based on the front and rear of the main body 100, the shaft rotates and expands and contracts at equal intervals on the left and right sides of the joint part 120, and the posture of the main body 100 is changed. A plurality of driving units 130 to maintain a constant posture of (110); And,
The posture of the main body part 100 can be changed during the flight of the rotorcraft, but the weight of the passenger or cargo loaded in the transport part 110 is input in advance so that the posture of the transport part 110 can be kept constant. A posture control unit 140 for controlling the plurality of driving units 130; It characterized in that it is configured to include,
The posture control unit 140,
A measuring unit 141 for measuring the flight speed of the rotorcraft aircraft in real time;
Based on the flight speed measured in real time, the bank angle required for rotational flight is calculated in real time, and each of the plurality of driving units 130 according to the direction in which the main body 100 rotates based on the calculated bank angle A calculation unit 142 that calculates motion; And,
An execution unit 143 for controlling the movement of each of the plurality of driving units 130 according to a direction in which the main body 100 rotates and flying according to a calculated value; A rotorcraft-type aircraft capable of maintaining flight performance using a two-degree of freedom joint, characterized in that it comprises a.
delete The method of claim 1,
The driving unit 130,
It characterized in that one end portion is installed to be axially rotatable under the body portion 100,
A rotorcraft-type aircraft capable of maintaining flight performance using a two-degree of freedom joint, characterized in that the other end portion is configured to extend and shorten the length in a state in contact with the upper portion of the transport unit 110.
The method of claim 3,
At the other end of the driving unit 130,
A rotorcraft type aircraft capable of maintaining flight performance using a two-degree of freedom joint, characterized in that a circular elastic body having elasticity is provided.
delete

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