KR102670813B1 - Detachable drone device - Google Patents

Abstract

One embodiment of the present invention configures two drones to be dockable (combined) or separable, so that the batteries between the two drones can be shared to enable mutual charging, and the two drones can perform their respective functions/actions. It is about a detachable drone device (drone system) that can handle complex tasks by configuring it.

Description

Detachable drone device {DETACHABLE DRONE DEVICE}

The following embodiments configure two drones to be dockable (combined) or detachable, share the battery between the two drones to enable mutual charging, and configure the two drones to perform their respective functions/actions, thereby creating a complex system. It is about a detachable drone device (drone system) that can handle commercial tasks.

In general, drone is a general term for unmanned aerial vehicles in the form of airplanes or helicopters that can fly and control without a pilot by guiding radio waves. In addition to military use, various types of unmanned flying drones have been developed and commercialized in the civilian field. there is.

Because these drones are operated wirelessly, they have built-in batteries, and it is essential to return the drone to the drone station during work to charge the drone's battery.

Accordingly, time/power/cost loss occurs in the process of recovering the drone to the drone station.

In order to increase the usage time of the drone, battery efficiency or battery capacity must be increased. However, as the battery capacity increases, the weight of the drone increases and performance deteriorates. In addition, improving battery efficiency or power efficiency requires physical effort. Due to limitations, it is very difficult to dramatically increase the usage time.

KR 10-1888271 B KR 10-1690993 B KR 10-2176132 B

The problem to be solved by an embodiment of the present invention is to overcome the limitations of conventional drone devices/technology as described above, by charging a drone during its work and performing complex tasks based on a plurality of drones. The goal is to provide a detachable drone device where possible.

According to one embodiment, a detachable drone device includes: a first drone including a first tool capable of performing a first task; a second drone including a second tool capable of performing a second task different from the first task; a docking device that detachably connects the first drone and the second drone; A control unit connected wired or wirelessly to the first drone, the second drone, and the docking device, wherein the control unit: controls the amount of current supplied to the electromagnet included in the docking device to control the first drone and the second drone. Provides a detachable drone device that detachable.

Additionally, the first drone includes: a first battery that provides power to the first drone; and a first terminal connected to the first battery, wherein the second drone includes: a second battery providing power to the second drone; and a second terminal connected to the second battery, wherein the control unit: charges the second battery with the first battery based on the remaining amount of the first battery and the remaining amount of the second battery. It may be configured to control charging of the first battery with two batteries.

And, the docking device includes: a first support bar extending from the lower part of the second drone; A ten-shaped axis fixed to the lower end of the first support bar; Detachable protrusions provided one at a time at each of the four ends of the cross shaft; A first micro slot formed on the top of the first drone; a first cylindrical space formed below the first microscopic slot; and eight first detachment slots formed on the sides of the first cylindrical space, wherein the cross axis includes: a cylinder formed to be cylindrically concave at each end, and the detachment protrusions are: a first spring fixed to the inside of the cylinder; And a piston coupled to the first spring and protruding to the outside of the cylinder by the elastic force of the first spring; applying a magnetic force to the piston by applying a current to the electromagnet to compress the first spring. Alternatively, the first spring is tensioned by blocking the current applied to the electromagnet, and the first fine slot is: a cross slot corresponding to the flat cross-sectional shape of the cross axis is angled at a 45 degree angle so that the cross axis can pass through. It is formed in an overlapped micro-shape, and the first cylindrical space is: formed in a cylindrical shape having an outer diameter corresponding to the length of the cross axis so that the cross axis can be seated and rotated, and the first attachment and detachment slot is : It is recessed in an outward direction from the side of the first cylindrical space to have an inner diameter corresponding to the outer diameter of the piston, and may be formed only at the lower part of the point between each end of the first micro slot.

In addition, the first terminal includes: a second spring provided at the center of the first cylindrical space, and the second terminal includes: provided at the lower center of the cross axis, so that the cross axis is aligned with the first cylindrical space. When seated, the first terminal and the second terminal are connected, and the first drone has: eight first optical sensors disposed on the bottom of the first cylindrical space at each lower part of the end point of the first micro slot. ; and eight second optical sensors disposed on the upper surface of the first drone at each point between the ends of the first microscopic slot, wherein the second drone: transmits a predetermined laser light from the bottom of the second drone to the lower part. Four laser units disposed only on the upper part of the point between each end of the cross axis to irradiate; and a distance sensor disposed on one side of the bottom of the second drone and measuring the distance between the second drone and the first drone disposed below the second drone. The control unit includes: the eight first drones; applying a current to the electromagnet when the laser light emitted from the laser unit is detected by four of the optical sensors; Throttling at least one of the first drone and the second drone while applying current to the electromagnet; When the distance between the first drone and the second drone measured by the distance sensor is less than a predetermined reference value, yawing the second drone and blocking the current applied to the electromagnet; And when the laser light emitted from the laser unit is detected by four of the eight second optical sensors, terminating yawing of the second drone. It can be controlled according to a control method including a.

In addition, the first tool is: a main lifting device that fixes the first box in the process of transporting the first box to the first destination; and the second tool is: a plurality of second boxes accommodated in the first box. The docking device for fixing the second box in the process of transporting the box to a second destination, wherein the first box is composed of a long tray with an open top and a bottom and four sides, wherein one of the four sides is open. Nut holes provided on at least two sides and having predetermined threads formed on the inner peripheral surface; the main lifting device includes: at least two second support bars fixed to the upper part of the first drone; a first figure-of-eight bearing provided with a pair of first holes, one of the first holes being fastened to each second support bar; a screw that extends to a predetermined length, is disposed parallel to the second support bar, is fastened to another one of the first holes, and has a predetermined thread formed on an outer circumferential surface to correspond to the nut hole; a second figure-of-eight bearing provided with a pair of second holes, one of the second holes being fastened to each second support bar, and arranged to be spaced apart from the first figure-of-eight bearing by a predetermined distance; and a lifting motor fixed to one side of the first drone to rotate the screw, wherein the screw includes: a first gear formed at the top of the screw; a first seating portion formed at a lower portion of the first gear and on which the first figure-of-eight bearing is seated; a disk protruding from a lower portion of the first seating portion in a direction perpendicular to the axial direction of the screw; and a second seating part spaced apart from the first seating part, wherein the lifting motor includes: a second gear coupled to the rotation axis of the lifting motor to transmit power to the first gear. The screw is rotated based on the rotation to remove or fasten the first box, and the second box includes: a second minor slot formed on an upper part of the second box; a second cylindrical space formed below the second micro slot; and eight second detachment slots formed on the sides of the second cylindrical space, wherein the second microscopic slots have: 45 cross slots corresponding to the flat cross-sectional shape of the cross axis so that the cross axis can pass through. It is formed in a micro-shape overlapped at an angle of degrees, and the second cylindrical space is: formed in a cylindrical shape having an outer diameter corresponding to the length of the cross axis so that the cross axis can be seated and rotated, and the second detachment slot is: It is recessed in an outward direction from the side of the second cylindrical space to have an inner diameter corresponding to the outer diameter of the piston, and may be formed only at the lower part of the point between each end of the second cylindrical space.

According to one embodiment, two different drones (Zadron, Modron) can be detached (docked).

Additionally, it is possible to configure two drone systems that perform different tasks.

Additionally, by configuring the batteries to allow mutual charging between the two drones, the batteries of the drones can be charged without returning to the drone station.

In addition, during the drone docking process, the exact positions of the drones can be more easily aligned with each other, thereby significantly lowering the difficulty of docking control.

In addition, in Modron (first drone), multiple boxes (first box) can be detached/lifted/unloaded, and in Jadron (second drone), multiple items contained in the unloaded box (first box) ( 2nd box) can be transported, forming a logistics system in which the movement of drones is optimized.

Figure 1 is a front view showing a detachable drone device according to an embodiment of the present invention.
2 and 3 are plan views showing a docking device for a detachable drone device according to an embodiment of the present invention.
Figure 4 is a diagram for explaining the process of attaching and detaching the first box to the detachable drone device according to an embodiment of the present invention.

Hereinafter, embodiments will be described in detail with reference to the attached drawings. However, various changes can be made to the embodiments, so the scope of the patent application is not limited or limited by these embodiments. It should be understood that all changes, equivalents, or substitutes for the embodiments are included in the scope of rights.

Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Accordingly, the embodiments are not limited to the specific disclosed form, and the scope of the present specification includes changes, equivalents, or substitutes included in the technical spirit.

Terms such as first or second may be used to describe various components, but these terms should be interpreted only for the purpose of distinguishing one component from another component. For example, a first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being “connected” to another component, it should be understood that it may be directly connected or connected to the other component, but that other components may exist in between.

The terms used in the examples are for descriptive purposes only and should not be construed as limiting. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the embodiments belong. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

In addition, when describing with reference to the accompanying drawings, identical components will be assigned the same reference numerals regardless of the reference numerals, and overlapping descriptions thereof will be omitted. In describing the embodiments, if it is determined that detailed descriptions of related known technologies may unnecessarily obscure the gist of the embodiments, the detailed descriptions are omitted.

According to one embodiment, a detachable drone device includes: a first drone (1) including a first tool capable of performing a first task; a second drone (2) including a second tool capable of performing a second task different from the first task; A docking device that detachably connects the first drone (1) and the second drone (2); A control unit connected wired or wirelessly to the first drone (1), the second drone (2), and the docking device, wherein the control unit: controls the amount of current supplied to the electromagnet included in the docking device. A detachable drone device for attaching and detaching a first drone (1) and a second drone (2) is provided.

The first drone (1) is a modron and may be a drone that is relatively larger in size than the second drone (2). Therefore, the first drone (1), which arrived at the first destination (logistics hub/intermediate delivery location) with the second drone (2) docked at the drone station, charges the first battery based on the charger provided at the first destination. can be charged.

The second drone (2) is a self-drone, and can be docked to or detached from the first drone (1) and controlled in a separate state from the first drone (1). Accordingly, the second drone 2 separated from the first drone 1 at the first destination can move to the second destination.

Thereafter, when the second battery of the second drone 2 becomes low, the second battery can be charged from the first battery of the first drone 1 by docking with the first drone 1.

The docking device may be a system composed of specific structures/shapes provided in each of the first drone 1 and the second drone 2, as in an embodiment described later.

The control unit may be a system including control boards (including CPU, memory, non-transitory storage medium, communication module, etc.) provided in each of the first drone 1 and the second drone 2. Accordingly, the first drone 1 and the second drone 2 can be docked or separated (removed) by controlling each of the two drones.

Here, the first drone 1 and the second drone 2 can be converted into docked/disconnected states based on electromagnets.

An electromagnet refers to an electronic component that generates a predetermined magnetic force when electric current is supplied. Since commercial products based on known technology can be used, a detailed description of the electromagnet itself will be omitted.

In addition, the first drone 1 includes: a first battery that provides power to the first drone 1; and a first terminal connected to the first battery, wherein the second drone 2 includes: a second battery providing power to the second drone 2; and a second terminal connected to the second battery, wherein the control unit: charges the second battery with the first battery based on the remaining amount of the first battery and the remaining amount of the second battery. It may be configured to control charging of the first battery with two batteries.

When the first terminal and the second terminal are connected to each other, a charging circuit between the first battery and the second battery is connected to charge the second battery from the first battery or to charge the first battery from the second battery. .

Here, since the circuit configuration required for charging other than the first battery - first terminal - second terminal - second battery is a well-known technology, detailed description will be omitted.

The control unit can check the remaining battery capacity of the first battery and the second battery, determine which battery to charge, and operate the charging circuit.

Generally, the second battery will be charged from the first battery, which has a relatively large battery capacity.

The first drones (1) departing from the main drone station unload the first box (4), which will be described later, at the auxiliary drone station at each first destination and then proceed with charging, and the second drones (2) proceed with charging the first box (4), which will be described later, at the auxiliary drone station at each first destination. The second boxes accommodated in the first box 4 can be lifted one by one from the destination and delivered to the second destination.

In this process, when the second battery of the second drone (2) is discharged below a certain rate, the second drone (2) docks with the first drone (1) nearby and receives power from the first battery. It can be charged, or it can be charged by receiving power by visiting a nearby auxiliary drone station/main drone station (optimizing the route by visiting the closest location).

And, the docking device includes: a first support bar 21 extending from the lower part of the second drone 2; A ten-shaped shaft (22) fixed to the lower end of the first support bar (21); Detachable protrusions (23) provided one at a time at each of the four ends of the cross shaft (22); A first micro slot (11) formed on the top of the first drone (1); A first cylindrical space (12) formed in the lower part of the first micro slot (11); and eight first detachment slots 120 formed on the sides of the first cylindrical space 12, wherein the cross axis 22 is: a cylinder formed to be cylindrically recessed at each end. (230); and the detachable protrusion 23 includes: a first spring 231 fixed to the inside of the cylinder 230; and a piston 232 coupled to the first spring 231 and protruding to the outside of the cylinder 230 by the elastic force of the first spring 231. By applying a current to the electromagnet, the The first spring 231 is compressed by applying a magnetic force to the piston 232, or the first spring 231 is tensioned by blocking the current applied to the electromagnet, and the first fine slot 11 is: To allow the cross axis 22 to pass through, cross slots corresponding to the flat cross-sectional shape of the cross axis 22 are formed in a micro-shape overlapped at an angle of 45 degrees, and the first cylindrical space 12 ) is: formed in a cylindrical shape with an outer diameter corresponding to the length of the cross axis 22 so that the cross axis 22 can be seated and rotated, and the first detachment slot 120 is: the piston 232 It is recessed in an outward direction from the side of the first cylindrical space 12 to have an inner diameter corresponding to the outer diameter, and may be formed only at the lower part of the point between each end of the first minor slot 11.

The first support bar 21 is fixed to the lower part of the second drone 2 and supports the second drone 2 to maintain a predetermined distance when docked with the first drone 1.

A predetermined wire, etc. is provided inside the first support bar 21, and is connected to the first terminal and the second terminal to transmit a current/signal between the first drone 1 and the second drone 2. there is.

The cross shaft 22 is a shape in which two circular cross-section hollow shaft bars having a predetermined length are joined to each other at an angle of 90 degrees (extends in four directions based on the center (lower end of the first support bar 21) It is composed of a bar shape).

The first minor slot 11 provides a path through which the cross shaft 22 can penetrate/pass. Here, the character Mi (米) refers to the shape of two character shapes overlapped at a 45-degree angle.

Accordingly, the cross shaft 22 can be inserted into the first minor slot 11 at a certain angle and can be arranged in a direction that allows insertion every 45 degrees. In other words, when the cross axis 22 can be inserted into the first slot 11 at a certain angle, the cross axis 22 can be removed even at an angle rotated (yawing) by 45 degrees (an integer multiple of 45 degrees). 1 It can be inserted into the minor slot (11).

The first cylindrical space 12 is formed in the lower part of the first micro slot 11, and is formed as a cylindrical space (disk 332 shape) so that the cross axis 22 can rotate 360 degrees therein. do.

The detachable protrusion 23 protrudes after the cross axis 22 passes through the first minor slot 11 and is seated in the first cylindrical space 12, so that the cross axis 22 is positioned in the first cylindrical space. (12) Prevent rotation so that it does not rotate further inside.

Therefore, the second drone 2: does not deviate upward due to the sections between the first minor slots 11 that block the upper part of the cross axis 22, and blocks the lower part of the cross axis 22. It does not deviate downward due to the first cylindrical space 12, and the detachable protrusion 23 (piston 232) rotates relative to the first drone 1 by being fastened to the first detachable slot 120 ( It is fixed to prevent yawing. Accordingly, the second drone 2 can be completely fixed (docked) to the first drone 1.

The cylinder 230 is formed at each end of the cross shaft 22.

Accordingly, the piston 232, which is accommodated inside the cylinder 230 and connected/fixed to the cross shaft 22 by the first spring 231, partially protrudes to the outside of the cylinder 230 due to the operation of the electromagnet. Or it can be completely accommodated inside the cylinder 230.

When the piston 232 is seated in the first detachment slot 120, the first drone 1 and the second drone 2 are docked, and in the process of undocking (separation), the electromagnet is operated to remove the piston 232. ) is separated from the first detachment slot 120, the second drone 2 is rotated (yawed) so that the cross axis 22 is in a position corresponding to the first minor slot 11, and the second drone ( By throttling (rising) 2), separation can be completed and the current applied to the electromagnet can be blocked (preventing unnecessary consumption of current in the electromagnet).

In addition, the first terminal includes: a second spring provided at the center of the first cylindrical space 12, and the second terminal includes: provided at the lower center of the cross shaft 22, When the shaft 22 is seated in the first cylindrical space 12, the first terminal and the second terminal are connected, and the first drone 1 is located at: the end point of the first cylindrical slot 11. eight first optical sensors disposed on the bottom of the first cylindrical space 12 at each lower part; and eight second optical sensors disposed on the upper surface of the first drone 1 at each point between the ends of the first microscopic slot 11, wherein the second drone 2 includes: the second drone (2) four laser units disposed only at the upper part of the point between each end of the cross axis (22) to irradiate a predetermined laser light from the bottom to the lower part; and a distance sensor disposed on one side of the bottom of the second drone (2) and measuring the distance between the second drone (2) and the first drone (1) disposed below the second drone (2). The control unit includes: applying a current to the electromagnet when the laser light emitted from the laser unit is detected by four of the eight first optical sensors; Throttling at least one of the first drone (1) and the second drone (2) while applying current to the electromagnet; When the distance between the first drone (1) and the second drone (2) measured by the distance sensor is less than a predetermined standard value, the second drone (2) is yawed and the current applied to the electromagnet is blocked. steps; And when the laser light emitted from the laser unit is detected by four of the eight second optical sensors, terminating the yawing of the second drone 2. It can be controlled according to a control method including a.

The first terminal includes: a second spring provided at the center of the first cylindrical space 12, so that current can flow between the first drone 1 and the second drone 2 when docked. The first terminal can be brought into close contact with the second terminal so that the charging circuit can be closed.

Hereinafter, the process of matching the directions of the cross axis 22 and the first microscopic slot 11 based on a laser and an optical sensor will be described.

The second drone 2 radiates laser downward from each of the four laser units for docking.

When the irradiated laser is recognized by four of the first optical sensors, the control unit may determine that the cross axis 22 can pass through the first microscopic slot 11 in any direction.

While the direction (yaw direction) of the first drone 1 and the second drone 2 is fixed, the height difference between the first drone 1 and the second drone 2 is reduced. In other words, the first drone 1 is throttled to ascend or the second drone 2 is throttled to descend.

When the value measured by the distance sensor is the minimum distance between the first drone 1 and the second drone 2, the bottom of the cross axis 22 contacts the bottom of the first cylindrical space 12. Since it can be viewed as being in one state, rotation (yawing) of the first drone 1 or the second drone 2 can be started.

At this time, the current flowing through the electromagnet is blocked to allow the piston 232 to come out of the cylinder 230, and as the drone rotates, the piston 232 is seated/inserted into the first detachment slot 120. When this happens, docking is complete.

The state in which docking is completed may be determined (determined by the control unit) based on whether or not the laser light is recognized by the second optical sensor.

According to one embodiment of the present invention, this docking process can be performed even when both the first drone 1 and the second drone 2 are in flight.

In addition, the first tool is: a main lifting device that fixes the first box 4 in the process of transporting the first box 4 to the first destination; and the second tool is: the first box ( 4) is the docking device that fixes the second box in the process of transporting the plurality of second boxes accommodated in the second box to the second destination, and the first box (4) is: the top is open, and it consists of a bottom and four sides It is composed of a long tray that is provided on at least two of the four sides and includes a nut hole 40 with a predetermined thread formed on the inner peripheral surface, and the main lifting device includes: the first drone (1) At least two second support bars (31) fixed to the upper part of; A first figure-of-eight bearing (32) provided with a pair of first holes, one of which is fastened to each second support bar (31); A screw that is extended to have a predetermined length and is disposed parallel to the second support bar 31 to be fastened with another one of the first holes, and has a predetermined thread formed on the outer peripheral surface to correspond to the nut hole 40. (33); A pair of second holes are provided, and one of the second holes is fastened to each second support bar 31, and the second hole is arranged to be spaced apart from the first figure 8 bearing 32 by a predetermined distance. Figure 8 bearing (34); And a lifting motor (35) fixed to one side of the first drone (1) to rotate the screw (33), wherein the screw (33) includes: a first formed at the top of the screw (33) gear 330; A first seating portion 331 formed at the lower portion of the first gear 330 and on which the first 8-shaped bearing 32 is seated; a disk 332 protruding from the lower portion of the first seating portion 331 in a direction perpendicular to the axial direction of the screw 33; and a second seating part 333 spaced apart from the first seating part 331, wherein the lifting motor 35 includes: a lifting motor 35 to transmit power to the first gear 330. Including a second gear 350 coupled to the rotating shaft, to remove or fasten the first box 4 by rotating the screw 33 based on the rotation of the lifting motor 35, and to remove or fasten the first box 4 Box 2 includes: a second minor slot formed on an upper part of the second box; a second cylindrical space formed below the second micro slot; and eight second detachment slots formed on the sides of the second cylindrical space, wherein the second minor slots have a flat cross-sectional shape of the cross axis 22 so that the cross axis 22 can pass through. The corresponding cross slots are formed in the shape of a bead overlapped at an angle of 45 degrees, and the second cylindrical space has an outer diameter corresponding to the length of the cross axis 22 so that the cross axis 22 can be seated and rotated. The branch is formed in a cylindrical shape, and the second detachment slot is: recessed in an outward direction from the side of the second cylindrical space to have an inner diameter corresponding to the outer diameter of the piston 232, It can be formed only at the lower part of the point between each end.

In one embodiment, a case where the first tool and the second tool are tools for logistics system work will be described.

The first tool is: a main lifting device that fixes the first box 4 in the process of transporting the first box 4 to the first destination, and can be applied in addition to the above-described embodiment.

At this time, as the second tool: the docking device described above (the first support bar 21, the cross shaft 22, and the detachable protrusion 23) can be used as is.

The plurality of first boxes 4 can be stacked in multiple stages, fastened to the screws 33, and the first drone 1 can be flown in that state to transfer the plurality of first boxes 4.

Therefore, the first boxes 4 containing a large quantity of products (second boxes) can be transported to a logistics hub, etc. (first destination) at once based on the high output of the first drone 1, which is a modron. .

Thereafter, the first boxes 4 are unloaded at least one by one at the first destinations, and the second drones 2 transfer any one of the second boxes accommodated in the first box 4 to the second destination (final delivery destination, etc. ) can be transported up to

The second box is provided with a first cylindrical slot 11 provided in the first drone 1, a second cylindrical space corresponding to the first cylindrical space 12, and a second cylindrical space, so that the first drone 1 It can be docked to the second drone (2) in a manner similar to the process of docking/separating (1) and the second drone (2).

The second box does not have the same configuration as the first optical sensor and the second optical sensor, but the second box is seated on the ground, or the first box 4 accommodating the second box is seated on the ground. Therefore, docking to the second drone (2) is possible without a separate optical sensor.

Detects the second box based on the camera provided in the second drone 2, and controls the cross axis 22 while throttling (descending) the second drone 2 in a state located at the top of the second box. 2 Approach the Mija slot. Thereafter, if the second drone 2 continues to descend while slowly rotating (yawing), the cross axis 22 passes through the second cross axis slot at the moment the cross axis 22 coincides with the second cross axis slot and moves to the second drone slot. It is seated in a cylindrical space.

The first box 4 can be transported by being fastened (docked) to the first drone 1 in a stacked state of at least two boxes.

Nut holes 40 penetrating in the vertical direction are formed in at least two side walls (side walls facing each other) of the first box 4.

At least one pair of screws 33 provided in the first drone 1 passes through the nut hole 40 and is fastened/docked to the first box 4.

To this end, the spacing between the nut holes 40 and the spacing between the screws 33 must be identical.

When the lifting motor 35 is rotated while the screw 33 is in contact with the nut hole 40, the screw 33 rotates and the nut of the first box 4 is attached to the thread of the screw 33. The hole 40 is fastened.

The length of the screw 33 is preferably designed to be longer than an integer multiple (multiple times) of the height of the side wall of the first box 4, so that it can fasten a plurality of first boxes 4.

The main lifting device rotates the screw 33 based on the power of the lifting motor 35.

The screw 33 is fixed in parallel to the second support bar 31 by a first 8-shaped bearing 32 and a second 8-shaped bearing 34, and is connected to a first gear 330 and a second gear ( It rotates by receiving power through 350).

The disk 332 and the first gear 330 fix the first 8-shaped bearing 32 so that it does not deviate in the vertical direction.

Although the embodiments have been described with limited drawings as described above, those skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the following claims.

1: 1st drone
11: 1st US character slot
12: first cylindrical space
120: first detachment slot
2: 2nd drone
21: first support bar
22: Ten-character axis
23: Detachment protrusion
230: cylinder
231: first spring
232: piston
31: second support bar
32: first figure 8 bearing
33: screw
330: 1st gear
331: first seating portion
332: disk
333: second seating portion
34: second figure 8 bearing
35: lifting motor
350: 2nd gear
4: first box
40: nut hole

Claims (3)

In the detachable drone device,
a first drone including a first tool capable of performing a first task;
a second drone including a second tool capable of performing a second task different from the first task;
A docking device that detachably connects the first drone and the second drone;
Includes a control unit connected wired or wirelessly to the first drone, the second drone, and the docking device,
The control unit:
Detaching the first drone and the second drone by adjusting the amount of current supplied to the electromagnet included in the docking device,
The first drone is:
a first battery providing power to the first drone; and
Includes a first terminal connected to the first battery,
The second drone is:
a second battery providing power to the second drone; and
It includes a second terminal connected to the second battery,
The control unit:
Based on the remaining amount of the first battery and the remaining amount of the second battery, control to charge the second battery with the first battery or charge the first battery with the second battery,
The docking device:
a first support bar extending from the lower portion of the second drone;
A ten-shaped axis fixed to the lower end of the first support bar;
Detachable protrusions provided one at a time at each of the four ends of the cross shaft;
A first micro slot formed on the top of the first drone;
a first cylindrical space formed below the first microscopic slot; and
It includes eight first attachment and detachment slots formed on the sides of the first cylindrical space,
The cross axes are:
It includes a cylinder formed at each end to be concave in a cylindrical shape,
The detachable protrusions are:
a first spring fixed to the inside of the cylinder; and
Including a piston coupled to the first spring and protruding to the outside of the cylinder by the elastic force of the first spring.
Applying a magnetic force to the piston by applying a current to the electromagnet to compress the first spring,
Tensing the first spring by blocking the current applied to the electromagnet,
The first micro slot is:
To allow the cross axis to pass through, cross slots corresponding to the flat cross-sectional shape of the cross axis are formed in a micro-shape overlapped at an angle of 45 degrees,
The first cylindrical space is:
The cross axis is formed in a cylindrical shape with an outer diameter corresponding to the length of the cross axis so that it can be seated and rotated,
The first detachment slot is:
It is recessed in an outward direction from the side of the first cylindrical space to have an inner diameter corresponding to the outer diameter of the piston,
Formed only at the lower part of the point between each end of the first micro slot,
Detachable drone device
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