KR102634053B1 - Drone which center of gravity can be relocated - Google Patents

Abstract

A drone according to an embodiment of the present invention includes a main body equipped with a control unit that controls flight operations and a payload, a plurality of motor arms branched from the main body, and motors provided in each of the motor arms. , It includes a propeller coupled to the rotation axis of the motor to produce thrust, and a moving rotation unit capable of moving the center of gravity of the drone by linearly moving or rotating the payload relative to the main body. The moving rotation unit is characterized in that it includes a linear transfer unit for linear movement of the payload, and a rotation drive unit for rotation of the payload.

Description

Drone which center of gravity can be relocated}

The present invention relates to drones, and more specifically, to drones with improved control, riding comfort, etc. through movement of the center of gravity.

Recently, the use of drones (multicopters) has been expanding to include not only surveillance but also logistics delivery, high-altitude photography, surveying, or accident recovery.

Multicopter-type drones can usually be classified into bicopters (2), tricopters (3), and quadcopters (4) depending on the number of propellers, especially quads that take off, land, and propel using four propellers. Quadcopters are widely available and their flight conditions are known to be relatively stable.

In addition, to control the flight of a drone, each rotor (propeller) is rotated at a rotation speed (rpm) depending on the situation, and the flight control of the drone is performed by generating thrust and moment. In addition, the force and moment required for the drone's flight situation and specific control are generated by combining the rotation speeds of each rotor.

However, the force and moment generated by the rotor are always coupled, so the drone may be subject to unintended maneuvers. In particular, in the case of heavy payloads or large aircraft, a large load may be concentrated on specific motors and ESCs. In addition, translation and rotation are often coupled during 6-degree-of-freedom movement, so the aircraft's attitude changes when the drone is started.

Conventionally, the fuselage, excluding fast dynamics, is a rigid body, and the aerodynamics center and center of gravity are fixed to the aircraft. Therefore, in order to maneuver and control the aircraft, the flight was performed by operating the actuators (control surfaces, rotors, props, etc.) to control aerodynamic forces (thrust, lift, drag).

Korean Patent No. 10-2321351 (2021.10.28.)

The present invention is intended to solve the problems of the prior art as described above, and the purpose of the present invention is to provide a drone with improved control and riding comfort through movement of the center of gravity.

In order to achieve the above object, a drone according to an embodiment of the present invention includes a main body equipped with a control unit for controlling flight operations and a payload, a plurality of motor arms branched from the main body, and It includes a motor provided in each motor arm and a propeller that combines with the rotation axis of the motor to generate thrust, and a moving rotation unit that can move the center of gravity of the drone by linearly moving or rotating the payload relative to the main body. It is characterized by including.

In addition, the moving rotation unit is characterized in that it includes a linear transfer unit for linear movement of the payload, and a rotation drive unit for rotation of the payload.

In addition, the linear transfer unit includes a linear transfer unit fixing unit fixed to the lower surface of the main body, a screw rod coupled to the linear transfer unit fixing unit so as to be rotatable relative to the linear transfer unit fixing unit, and the screw. A motor for driving a screw rod that rotates the rod, a guide portion connected to the fixed portion of the linear transfer portion, and a conveyor coupled to the screw rod and moving linearly along the guide portion relative to the screw rod as the screw rod rotates. It is characterized by comprising a member, and a payload connection part fixed to the transfer member and to which the payload is connected.

In addition, the rotation drive unit is a linear actuator mounted between the payload connection and the payload to move the payload closer to or farther away from the payload connection, and to pivot the payload at the payload connection. It is characterized by including a pivot fastener for fixing.

In addition, four linear actuators are provided at equal intervals, allowing the payload to rotate in four directions: forward, backward, left, and right.

The drone according to an embodiment of the present invention having the above-described configuration has the following effects.

If necessary for maneuvering and controlling the drone, the drone can be controlled by changing the center of gravity itself.

In addition, in the development of drone taxis, it is possible to solve the inconvenience and visibility problems in the cockpit that occur due to rotation during translation.

In addition, when installing a heavy payload, the control and steering of the drone can be improved by using the payload itself without placing a large burden on the motor and ESC.

In addition, through the combination of a linear transfer unit and a rotary drive unit, it is possible to create a gradual but highly influential movement of the center of gravity while also controlling the amount of change in position.

Meanwhile, the present invention also includes other effects that are not explicitly described but can be expected from the above-described configuration.

1 is a schematic diagram of the main configuration of a drone according to an embodiment of the present invention.
Figure 2 shows a state in which, in the drone of Figure 1, the center of gravity is moved due to the payload being moved in parallel by the linear transfer unit.
FIG. 3 shows the main configuration of the rotation drive unit in the drone of FIG. 1, where (a) in FIG. 3 is the initial position and (b) in FIG. 3 extends the linear actuator located at the rear of the payload. Figure 3 (c) shows a state in which the linear actuator located in the front is shortened, and a state in which the linear actuator located in the rear of the payload is shortened and the linear actuator located in the front of the payload is extended.
FIG. 4 shows the drone of FIG. 1 in which the payload is moved straight ahead and then rotated counterclockwise.
Figure 5(a) shows the flight state of a conventional drone, and Figure 5(b) shows the flight state of the drone in Figure 1.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can practice the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein.

As shown in Figure 1, a drone (hereinafter simply referred to as 'this drone') according to an embodiment of the present invention has a control unit for controlling flight operations and is equipped with a payload (5). A main body (1), a plurality of motor arms (2) branched from the main body (1), a motor (3) provided in each of the motor arms (2), and a propeller that combines with the rotation axis of the motor (3) to generate thrust. Includes (rotor) (4). Here, in this embodiment, the payload 5 is used as a concept including a cockpit in which a person can board.

In particular, this drone includes a moving rotation unit (6) that can move the center of gravity (G) of the drone by linearly translating and/or rotating the payload (5) relative to the main body (1). Includes.

The moving rotation unit 6 includes a linear transfer unit 7 for linear movement of the payload 5, and a rotation drive unit 8 for rotation of the payload 5.

Specifically, the linear transfer unit 7 includes a linear transfer unit fixing unit 71, a screw rod 72, a motor 73, a guide unit 74, a transfer member 75, and a payload connection unit. Includes (76).

The linear transfer part fixing part 71 may be fixed to the lower surface of the drone main body (1). Two screw rods may be installed so that both ends of the screw rod 72 are supported, respectively.

The screw rod (72) has a screw (male thread) formed on the surface of the rod, and is coupled to the linear transport part fixing part 71 so as to be rotatable relative to the linear transport part fixing part 71.

The screw rod driving motor 73 rotates the screw rod 72.

The guide part 74 is connected to and fixed to the linear transfer part fixing part 71.

The transfer member 75 is coupled to the screw rod 72 and moves linearly along the guide portion 74 relative to the screw rod 72 as the screw rod 72 rotates.

The payload connection part 76 is fixed to the transfer member 75 and can move linearly along the guide part 74 together with the transfer member 75, and the payload 5 is connected to it.

The rotation drive unit 8 includes a linear actuator 81 and a pivot fastening unit 82.

The linear actuator 81 is mounted between the payload connection 76 and the payload 5 to connect them, and extends or shortens its length to move the payload 5 closer to or further away from the payload connection 76. can do. The linear actuator 81 has a known configuration and can use hydraulic pressure, motor, pneumatic pressure, etc. Additionally, four linear actuators 81 are provided at equal intervals, allowing the payload 5 to pivot (rotate) in four directions: forward, backward, left, and right. Meanwhile, in this embodiment, based on FIG. 1, the direction the passenger is facing is forward, the opposite direction is backward, the direction toward the passenger's left hand is toward the left, and the direction toward the passenger's right hand is toward the right.

The pivot fastening portion 82 pivotably fixes the payload 5 to the payload connection portion 76. Through this, the payload 5 can be pivoted back and forth and left and right with respect to the payload connection portion 76.

Hereinafter, with reference to FIGS. 2 to 5, the operation of a drone according to an embodiment of the present invention having the above-described configuration will be described.

Figure 2 shows a state in which, in the drone of Figure 1, the center of gravity is moved due to the payload being moved in parallel by the linear transfer unit.

To this end, when the screw rod driving motor 73 is driven, the screw rod 72 rotates, and at this time, the transfer member 75 screwed to the screw rod moves forward along the guide portion 74. At this time, the drone's center of gravity (G) moves forward from the initial center of gravity line (L1) and is located at the center of gravity line (L2).

In addition, as shown in (b) of FIG. 3, in order to rotate the payload 5, the linear actuator 81 located at the rear of the payload 5 is extended, and the linear actuator 81 located at the front of the payload 5 is extended. Shorten the linear actuator. If, as shown in Figure 3 (c), to rotate the payload 5, the linear actuator 81 located at the rear of the payload 5 is shortened, and the linear actuator 81 located at the front of the payload 5 is shortened. The actuator 81 is extended.

In addition, in order to implement the state of FIG. 4, the payload 5 can be moved in a straight line as shown in FIG. 2 and the payload 5 can be rotated as shown in (b) of FIG. 3. At this time, the drone's center of gravity (G) moves further forward and is located at the center of gravity line (L3).

Figure 5(a) shows a case where the center of gravity is fixed in a conventional drone, and Figure 5(b) shows a case where the center of gravity is moved according to an embodiment of the present invention.

In this way, the drone according to this embodiment allows the drone to be controlled by changing the center of gravity itself when necessary for maneuvering and controlling the drone.

In particular, in the development of drone taxis, it is expected to solve the discomfort and visibility problems in the cockpit that arise due to rotation during translation. In other words, in the case of manned drones and drone taxis, human riding comfort is important, and moving the center of gravity through tilting can not only increase the ease of control but also improve the riding comfort of passengers.

In addition, in a conventional drone, a specific motor may be overloaded when flying at a high weight, but in this embodiment, when a heavy payload is installed, the drone uses the payload itself without placing a large burden on the motor and ESC (Electronic Speed Controller). Control and steering ability can be improved.

In addition, through the combination of a linear transfer unit and a rotary drive unit, it is possible to create a gradual but highly influential movement of the center of gravity while also controlling the amount of change in position.

Meanwhile, this embodiment illustrates the case where one linear transfer unit 7 is provided that can move the cockpit in parallel to the front and rear of the cockpit, but in addition, a linear transfer unit that can move the cockpit in parallel to the left and right sides of the cockpit is provided. It is a self-evident fact that a configuration additionally provided is included in the technical idea of the present invention.

Although the preferred embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims are also possible. falls within the scope of rights.

1...Body
2...Motor arm
3...motor
4...Propeller (rotor)
5...Payload
6...moving rotation part
7...Linear transfer unit
71... Straight conveying part fixing part
72...screw rod
73...Motor for driving screw rod
74...Guide section
75...Transfer member
76...Payload connection
8...Rotary drive eastern part
81...Linear actuator
82...Pivot fastening part

Claims (5)

A main body equipped with a control unit that controls flight operations and a payload is mounted, a plurality of motor arms branched from the main body, a motor provided in each of the motor arms, and a rotation axis of the motor to provide thrust. In a drone containing a propeller,
It includes a moving rotation unit that can move the center of gravity of the drone by linearly moving or rotating the payload relative to the main body,
The moving rotating part,
It includes a linear transfer unit for linear movement of the payload, and a rotation drive unit for rotation of the payload,
The linear transfer unit,
Includes a payload connector to which the payload is connected,
The rotation drive unit,
A linear actuator mounted between the payload connection and the payload to move the payload closer to or further away from the payload connection, and
A pivot fastening part that pivotably fixes the payload to the payload connection part.
A drone comprising: delete In paragraph 1:
The linear conveying part
A straight conveying part fixing part fixed to the lower surface of the main body,
A screw rod coupled to the linear transfer unit fixing unit so as to be rotatable relative to the linear transfer unit fixing unit,
A motor for driving the screw rod that rotates the screw rod,
A guide part connected to the linear transfer part fixing part, and
A transfer member coupled to the screw rod and moving linearly along the guide portion relative to the screw rod as the screw rod rotates.
It further includes,
The payload connection is fixed to the transfer member.
A drone featuring. delete In paragraph 1:
A drone characterized in that four linear actuators are provided at equal intervals, allowing the payload to rotate in four directions: forward, backward, left, and right.

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