KR20200006901A - Hoist Unit fo Unmanned Aerial Vehicle and Unmanned Aerial Vehicle thereof - Google Patents

Abstract

The present invention provides a hoist unit for an unmanned aerial vehicle and an unmanned aerial vehicle having the same. The hoist unit for an unmanned aerial vehicle comprises: a drum which winds or unwinds a wire, and is coupled to a main body of an unmanned aerial vehicle including the main body allowing a battery to be supported thereon and accommodating a control unit to control the unmanned aerial vehicle and supply power to the unmanned aerial vehicle, a plurality of arms radially coupled to the main body to support a propeller, and a landing unit arranged to allow the main body to land; and a driving unit to supply power to the drum. The drum has a wire groove dented along the outer circumference of the drum to couple the wire thereto. The hoist unit further comprises: a wire carrier linked to rotation of the drum to guide the wire to a corresponding position of the wire groove in a rotating axis direction of the drum in a process of wining or unwinding the wire. When the wire is wound or unwound on the hoist unit, the wire can be stably wound or unwound at a right position.

Description

Hoist unit for unmanned aerial vehicle and unmanned aerial vehicle having same {Hoist Unit fo Unmanned Aerial Vehicle and Unmanned Aerial Vehicle}

The present invention relates to a hoist unit for an unmanned aerial vehicle and an unmanned aerial vehicle having the same, and specifically, a hoist unit for an unmanned aerial vehicle having an improved structure of a hoist unit installed on an unmanned aerial vehicle so as to lift, lower, or transport a desired object. It is related to unmanned aerial vehicles.

Small aircraft that can be controlled using radio waves are called unmanned aerial vehicles, also known as drones. Unmanned aerial vehicles are equipped with cameras, sensors, and communication systems. They range in size from small to large. Unmanned aerial vehicles were first introduced for military use, but have recently expanded to high altitude shooting and delivery. Unmanned vehicles may spray pesticides or pick fruits at higher positions. In addition, it provides information such as weather to visitors who visit the mountains in many mountainous areas such as Korea, or is used to control visitor movements in controlled areas, check the progress of forest fires in case of wildfires, and control the number of people. The unmanned aerial vehicle utilized for this purpose is provided with a broadcasting module including a speaker. And, if necessary, the unmanned aerial vehicle may be provided with a hoist unit that can move the object up, down or suspended.

Such a hoist unit enables the wire to be effectively wound or unwound in the drum, especially when the wire is wound or unwound in the drum, and particularly, when the wire is unwound, the wire is always tensioned and released.

[Related literature]

Patent Registration No. 10-1451646 (2014.10.16. Notification)

It is an object of the present invention to provide a hoist unit for an unmanned aerial vehicle and an unmanned aerial vehicle having the same, in which the wire can be stably wound or unwound in the correct position of the drum when the wire is wound or unwound in the hoist unit.

Another object of the present invention is to provide a hoist unit for an unmanned aerial vehicle and an unmanned aerial vehicle having the same, in which the wire can always maintain a tensile force when the wire is wound or unwound in the hoist unit, so that no wire entanglement occurs.

Further, another object of the present invention is to provide a hoist unit for an unmanned aerial vehicle having a simple and convenient use, and an unmanned aerial vehicle having the same.

SUMMARY OF THE INVENTION An object of the present invention is a hoist unit for an unmanned aerial vehicle, the battery being supported and accommodating a control unit for controlling and powering the unmanned aerial vehicle, and a plurality of arms radially coupled to the main body so as to support the propeller. And a drum coupled to the main body of an unmanned aerial vehicle having a landing portion provided for landing the main body, the wire being wound and unwound; And a hoist unit having a driving unit for providing power to the drum, wherein the drum is provided with a wire groove recessed along the outer circumference of the drum to allow the wire to be coupled thereto, and the hoist unit has the wire wound or And a wire carrier for cooperating with the rotation of the drum so that the wire can be guided along the rotation axis direction of the drum to a corresponding position of the wire groove in the unwinding process.

In addition, the wire carrier preferably includes a wire tension member coupled to the wire to provide a tensile force to the wire in the direction in which the wire is released in the process of the wire is released from the drum.

The hoist unit may further include a power transmission unit for transmitting power from the driving unit to the wire carrier, a carrier transfer unit for moving the wire carrier in parallel with the axial direction of the drum, and a winding position in which the wire is wound on the drum. And it is preferable to include a sensor for detecting the position of the wire carrier in the process of moving between the release position released from the drum.

On the other hand, an object of the present invention, in the hoist unit for an unmanned aerial vehicle capable of lifting and carrying an object, the battery is supported, the main body capable of holding a control unit for control and power supply of the unmanned aerial vehicle, and can support the propeller A drum coupled to the main body of an unmanned aerial vehicle having a plurality of arms radially coupled to the main body, and a landing portion provided for landing the main body; A hoist unit having a drive unit for providing power to the drum, wherein the hoist unit comprises: a wire coupled to the wire to provide a tension force to the wire in a direction in which the wire is released in the course of the wire being released from the drum; It is also achieved by the hoist unit, characterized in that it further comprises a wire carrier having a tension member.

In addition, the wire tension member, and the tension roller provided in a pair to enable the wire to be pressed; A tension gear in which the tension roller is rotatably engaged; And a tension shaft coupled to the drum side and interlocked with a tension sprocket shaft to provide power to any of the tension gears, wherein the tension sprocket shaft and the tension shaft are different from the rotational speed of the tension sprocket shaft. It is preferable to include a clutch that can adjust the rotational speed of the tension shaft.

In addition, the wire carrier includes a support roller located below the drum rotation axis to support the wire so that the wire is unwinded and wound in the tangential direction of the wire groove, the tension roller is the support roller and the wire groove It is preferred to be positioned to press the wire in a tangential direction.

On the other hand, the object of the present invention is also achieved by an unmanned aerial vehicle comprising a hoist unit.

According to the present invention, it is possible to provide a hoist unit for an unmanned aerial vehicle and an unmanned aerial vehicle having the same, in which the wire is stably wound or unwound at the correct position of the drum when the wire is wound or unwound in the hoist unit.

In addition, it is possible to provide a hoist unit for an unmanned aerial vehicle and an unmanned aerial vehicle having the same, because the wire can always maintain a tensile force when the wire is wound or unwound in the hoist unit.

In addition, it is possible to provide a hoist unit for an unmanned aerial vehicle having a simple and convenient use and an unmanned aerial vehicle having the same.

1 is an unmanned aerial vehicle perspective view according to an embodiment of the present invention,
Figure 2 is a perspective view of the hoist unit coupled to Figure 1,
3 is a perspective view of the hoist removing the hoist case from the hoist unit of FIG.
4a is a front view of a hoist,
4b is a side view of the hoist
4C is a cross-sectional view taken along line IVc-IVc of FIG. 4A;
4D is an enlarged cross-sectional view of the tension sprocket shaft and the tension shaft,
5 is a front sectional view of FIG. 2;
6A and 6B are cross-sectional views illustrating a process of providing a tensile force to a wire;
7A to 7D are rear views illustrating a process in which the sensor unit operates while the wire carrier moves.

The hoist unit for an unmanned aerial vehicle according to an embodiment of the present invention and an unmanned aerial vehicle having the same (hereinafter referred to as an 'unmanned aerial vehicle') will be described below in detail with reference to FIGS. 1A to 7D.

1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention, Figure 2 is a perspective view of the hoist unit coupled to Figure 1, Figure 3 is a perspective view of the hoist removing the hoist case from the hoist unit of Figure 2, Figure 4a 4b is a side view of the hoist, FIG. 4c is a cross-sectional view taken along the line IVc-IVc of FIG. 4a, FIG. 4d is an enlarged cross-sectional view of the tension sprocket shaft and the tension shaft, and FIG. 6A and 6B are cross-sectional views illustrating a process of providing a tensile force to a wire, and FIGS. 7A to 7D are rear views illustrating a process of operating a sensor unit while a wire carrier moves.

For convenience of explanation, in the left and right directions of the drum 3150 and the motor 3110, which are the left and right directions in FIGS. Direction is set as the 'Z' direction, and the front and rear directions, which are the hydration directions of the 'X-Z' plane, respectively, as the 'Y' directions.

The unmanned aerial vehicle 1000 according to an embodiment of the present invention includes a main body 1100 that is supported by a battery and accommodates a controller (not shown) for controlling and supplying power to the unmanned aerial vehicle 1000, The unmanned aerial vehicle 1000 having a plurality of arms 1200 radially coupled to the main body 1100 to support the propeller 1300, and a landing part 1500 provided to land the main body 1100. A drum (3150) coupled to the main body (1100) of the wire (3600) and wound and unwound; And a hoist unit 2000 having a driving unit 3100 for providing power to the drum 3150, wherein the wire 3600 is coupled to the drum 3150 along an outer circumference of the drum 3150. A recessed wire groove 3155 is provided, and the hoist unit 2000 includes the wire 3600 to the corresponding position of the wire groove 3155 in the process of winding or unwinding the wire 3600. It is preferable that a wire carrier 3500 cooperating with the rotation of the drum 3150 to be guided along the rotation axis direction of the 3150.

The hoist unit 2000 includes a power transmission unit 3300 for transmitting power from the driving unit 3100 to the wire carrier 3500, and the wire carrier 3500 in parallel with the axial direction of the drum 3150. The carrier transfer unit 3700 to move, and the wire 3600 senses the position of the wire carrier 3500 in the process of moving between the winding position wound on the drum 3150 and the unwinding position released from the drum 3150 It is preferable that the sensor part 3900 is provided.

The main body 1100 includes a battery (not shown) for supplying power to the interior of the general unmanned aerial vehicle 1000, and a GPS function, a posture function, a speed function, an axis function, and an emergency safety system that are basically required for flight. It is desirable to have various components (not shown) and controllers (not shown) capable of controlling, controlling, and communicating the functions associated with (disruption of communication, low voltage, forced take-off point, other warning lights, etc.). The main body 1100 is disposed at the center of the unmanned aerial vehicle 1000 to maintain overall balance.

In addition, the main body 1100 may be combined with an imaging module (not shown) including a camera capable of capturing an image of a desired point or place while flying, and a broadcasting module (not shown) capable of broadcasting if necessary. . Through such a broadcasting module, it is possible to deliver a desired content to a relatively large place or a large number of people required by the user.

The propeller 1300 is driven by a drive unit (not shown) including a motor so that the unmanned aerial vehicle 1000 can fly to provide lift to the unmanned aerial vehicle 1000 and is coupled to the main body 1100 to extend outward. It is supported by the end side of the radial arm 1200, and is provided in multiple numbers. For example, the unmanned aerial vehicle 1000 is provided with a total of six propellers 1300 in a 60 degree direction. Here, the propeller 1300 according to an embodiment of the present invention may have a known folded form.

In addition, except for a special case, the material of the unmanned aerial vehicle 1000 may include carbon, aluminum, or an alloy thereof, which has strong strength while reducing weight. For example, the pipe, bracket, block, and the like included in the arm 1200 are preferably made of carbon, aluminum, and the like. Bolts and nuts for fastening may preferably include stainless steel having high corrosion resistance.

Arms 1200 may be coupled to the main body 1100, for example, provided with six arms in the 60 degree direction so that the propellers 1300 may be supported at the end side. The arm pipe (not shown), which is a rod-shaped elongated support of the arm 1200, is, for example, a square or circular pipe, and the material is preferably carbon.

The arm 1200 is fixed to the main body 1100 by a bracket not shown, and the arm 1200 has a structure that can be folded to have a structure that can be easily and easily move, transport, storage, and the like. .

The support member 1400 includes, for example, wires that are interconnected to maintain the structure or the deformation or rigidity between the body 1100 and the arm 1200 or the arm 1200.

The landing unit 1500 is supported downward below the arm 1200 or the main body 1100 so that the unmanned aerial vehicle 1000 can support another configuration when the unmanned aerial vehicle 1000 falls or touches the ground.

The hoist unit 2000, as shown in Figures 1 and 2, and the hoist 3000 that can raise, lower or move the desired object while winding or unwinding the wire 3600 coupled to the hook not shown Hoist case (2010) for accommodating the hoist 3000 and coupled to the main body 1100 having a hexahedral shape of a plate shape so that foreign matters and the like do not come close to the moving part of the hoist 3000. It consists of.

The hoist 3000 provides a rotational force for operating the drum 3150, the power transmission unit 3300, the wire carrier 3500 and the carrier transfer unit 3700 using a power source provided to the hoist 3000 using a battery. The driver 3100 includes a motor 3110.

The motor 3110 may include, for example, a BLDC type, capable of forward and reverse rotation, such that the drum 3150 does not rotate due to the weight of the object suspended on the wire 3600 when the drum 3150 is stopped. It is desirable to have a structure or a control method capable of performing a brake function. For example, when the motor 3110 is stopped, the power supplied from the three strands is controlled so that very fine current is supplied only to the two strands so that the motor 3110 cannot rotate so that the motor 3110 cannot rotate. You can also enable the brake function.

The rotational force of the motor 3110 is transmitted to the motor shaft 3113 and the rotational force of the motor shaft 3113 is decelerated by the reducer 3130 including the planetary gear. In the general planetary gear type reducer 3130, the outer housing (not shown) does not rotate, but in the present invention, the outer housing of the reducer 3130 rotates. The drum 3150 coupled with the drum shaft 3153 is rotated by the rotation of the motor shaft 3113 and the drum shaft 3153 coupled to the same axis along the X axis direction in the rotating outer housing of the reducer 3130. do. By such a structure, the wire 3600 may be sequentially wound or unwound in the wire groove 3155 recessed to correspond to the diameter of the wire 3600 along the outer circumference of the drum 3150. That is, in the conventional planetary gear type reducer, the input shaft rotates, the outer housing is fixed, and the output shaft rotates. However, the reducer 3130 according to the present invention has a structure in which the input shaft rotates, the output shaft is fixed, and the outer housing rotates. .

The wire 3600 is sequentially wound around the drum 3150 in the wire groove 3155 along the outer circumference of the drum 3150 in the direction from the left side to the right side of the positive 'X' axis of FIG. 3.

In addition, the driving unit 3100 is coupled to the drum sprocket 3157 and the drum sprocket 3157 coupled to the drum shaft 3153 and transmits a rotational force to the first shaft driving sprocket 3313 of the first shaft 3311. It is preferable to further include the drive part housing 3105 which can firmly support each structure of the chain 3159 and the drive part 3100 to the hoist case 2010. As shown in FIG.

Power of the driving unit 3100 is sequentially transmitted to the motor 3110-the motor shaft 3113-the reducer 3130-the drum shaft 3315 and the drum 3150-the first shaft 3311.

The power transmission unit 3300 has a function of transmitting power or rotational force so that the wire carrier 3500 and the carrier transfer unit 3700 may move or rotate the rotational force transmitted to the drum shaft 3315 to the first shaft 3311. do.

The power transmission unit 3300 includes two chains 3331 and 3331, and the first chain 3331 is disposed in parallel with the drum 3150 to transfer the carrier carrier 3700 to transfer the wire carrier 3500. The second chain 3331 rotates the wire tension member 3520.

In FIG. 3, when the drum 3150 rotates clockwise while looking at the center axis of the drum 3150 in the positive 'X' axis direction, the first shaft 3311 also rotates clockwise and the drum ( 3150 is also rotated in a clockwise direction, the wire 3600 wound on the drum 3150 is released (see the direction of the arrow 'A1' in FIGS. 4C and 6A).

When the first shaft 3311 rotates, the first shaft first driven sprocket 3315 on the left side rotates and the first chain 3321 coupled to the first shaft first driven sprocket 3315 rotates. Rotating the first ball screw sprocket 3325 and the second ball screw sprocket 3327 to rotate the ball screw 3710 coupled to both sides of the wire carrier 3500 by the rotation of the first chain 3321 The ball screw 3710 may rotate to allow the wire carrier 3500 to move in the disengaging direction along the drum 3150. That is, the wire providing tension or tension to the wire 3600 by the moving distance of the wire 3600 wound or unrolled along the central axis of the drum 3150 by using the rotational force of the drum 3150 and supporting the wire 3600. The carrier 3500 may be moved to allow the wire 3600 to be stably loosened and wound.

The first chain tensioner 3323 is provided to adjust the tension of the rotating first chain 3321. The first shaft housing 3312 rotatably supporting the first shaft 3311 is coupled to the hoist case 2010.

Next, when the first shaft 3311 rotates, the first shaft second driven sprocket 3317 coupled to the inside of the first shaft first driven sprocket 3315 is rotated and the first shaft second driven sprocket 3317 is coupled to the first shaft 311. The two chains 3331 rotate. The second tensioned sprocket 3336, which rotates the first tensioned sprocket 3333 by rotating the second chain 3331, and simultaneously rotates the second tensioned sprocket shaft 3335. This can rotate.

This rotation can provide a tension force to the wire 3600 released from the drum 3150 as described later.

An idle sprocket 3338 is provided to adjust the tension of the second chain 3331 to rotate and to rotate smoothly.

The wire carrier 3500 is provided in a substantially rectangular parallelepiped shape and is moved by the ball screw 3710 to the left and right sides of the drum 3150 in the direction of the axis of rotation of the drum 3150.

The wire carrier 3500 provides a carrier frame 3510 supporting the configurations, as shown in FIGS. 3-6B, and a tension to tension force that always pulls the wire 3600 against the drum 3150. The wire tensioning member 3520 and the wire 3600 support the weight of the object suspended on the wire 3600 through the wire 3600 and the wire 3600 while the wire 3600 is wound or unwound by the drum 3150 and the wire 3600. The support roller 3531 rotatable and coupled to the carrier frame 3510 and the wires 3600 to front and back (Z axis direction) to left and right (X) so as to be guided so that they can be bent or bent gently with respect to the drum 3150. It is preferable that the front and rear guide rollers 3535 and the wire left and right guide rollers 3535 coupled to the carrier frame 3510 so as not to move in the axial direction).

The wire tension member 3520 is coupled to an outer periphery of the first tension axis 3251 and the first tension axis 3351 that are coupled on the same axis in the 'X' axis direction as the first tension sprocket shaft 3332. For example, the first tension bearing 3352, which includes a one-way bearing, which can rotate only in one direction, is coupled between the first tension bearing 3352 and the first tension sprocket shaft 3332. According to the difference between the rotational speed of the 3352 and the rotational speed of the first tensioned sprocket shaft 3332, the first tensioned shaft 3351 is made to be slip (or idle) with respect to the first tensioned sprocket shaft 3332. The first tension clutch 3323 and the first tension axis 3351 may be coupled to each other and may press the wire 3600 positioned between the first tension axis 3351 and the second tension axis 3526 and rotate the wire 3600. ) Is made of a synthetic resin material containing a urethane material having a somewhat elastic without damaging the wire (3600) in the process of pressing The first consists of a tension roller (3524) and a first tension gear (3525) coupled to an end side of the first tension roller (3524).

Further, the wire tension member 3520 is coupled to the second tension axis 3526 and the second tension axis 3526 and rotated on the same axis in the 'X' axis direction as the second tension sprocket shaft 3335. While pressing the wire 3600 located between the second tension axis (3526) and the first tension axis (3521) and has a slight elasticity without damaging the wire 3600 in the process of pressing the wire 3600 It consists of a second tension roller (3527) made of a synthetic resin material containing a urethane material, and a second tension gear (3528) coupled to the end side of the second tension roller (3527) and engaged with the first tension gear (3525). It is.

Due to this structure, the wire 3600 can be always maintained in tension or pulling force with respect to the drum 3150 in the process of releasing or winding the wire 3600 in the drum 3150. When the wire 3600 is released, the wire 3600 is released at a higher speed than the speed at which the wire 3600 is lowered downward due to its own weight. Thus, the wire 3600 may be entangled.

This process will be described with reference to FIG. 6A, which is a process of releasing the wire 3600 from the drum 3150, and FIG. 6B, which is a process of winding the wire 3600 to the drum 3150.

As shown in FIG. 6A, when the first and second tension sprockets 3333 and 3336 are rotated by the rotation of the drum 3150, the first and second tension sprocket shafts 3332 and 3335 coupled thereto are respectively. Rotate

When the first tension sprocket shaft 3332 rotates, a rotational force is transmitted to the first tension shaft 3351 through the first tension clutch 3523 and the first tension bearing 3352. In addition, the rotational speed of the first tensioned sprocket shaft 3332 (see 'RPM down1' in FIG. 6A) is set faster than the speed at which the wire 3600 is released from the drum 3150. That is, the PCD of the first driven second sprocket 3317 and the PCD of the first strained sprocket are set to be different from each other. In this configuration, for example, when the wire 3600 rotates at a rotational speed of the first tensioned sprocket 3333, the wire 3600 descends by 120 mm per second, the wire 3600 is rotated by the drum 3150. ) Can be set to 100mm per second. On the other hand, the wire 3600 is pressed between the first tension roller 3524 and the second tension roller 3525 to be lowered while being rubbed by the rotation of the first tension roller 3524 and the second tension roller 3525. do.

Here, when the rotational speed of the first tension sprocket 3333 acts on the first tension axis 3351 as it is, the first tension roller 3524 coupled to the first tension axis 3351 rather than the speed at which the wire 3600 is released. And the second tension roller 3525 has a high rotational speed so that the first tension roller 3524 and the second tension roller 3525 are engaged with and rotated by the first tension gear 3525 and the second tension gear 3528. It will rotate while sliding the surface of the wire 3600 while providing frictional force to the 3600.

However, in the present invention, the first tension clutch 3323 and the first tension bearing 3352 exist, so that the rotational force of the first tension sprocket 3333 is applied to the first tension shaft 3351 to the first tension bearing 3352. Slip to rotate less by the difference in the rotational speed (see 'RPM down2' of FIG. 6A) of the first tension shaft 3351 with respect to the first tension sprocket 3333 by the first tension clutch 3523. Generate idle. That is, the linear velocity applied to the wire 3600 at the left side of the first tensioned sprocket 3333 is 120 mm per second, but the linear velocity of the wire 3600 released from the drum 3150 is 100 mm per second, so that 20 mm of wire 3600 per second is used. The linear velocity is controlled by the slip of the first tension clutch 3523. That is, the wire 3600 released from the drum 3150 by this slip phenomenon is pressed between the first tension roller 3524 and the second tension roller 3525 to act as a tensioning force or tension in the direction in which the wire 3600 is released. Tension may be applied to the wire 3600 continuously.

In this process, since the second tension sprocket shaft 3335 and the second tension shaft 3526 are not connected to each other to transmit the rotational force, the second tension sprocket shaft 3526 is rotated by a bearing brg, so that the respective rotation speeds are different. That is, the second tension axis 3526 rotates at the same speed as the rotational speed of the second tension gear 3528 that is engaged with the first tension gear 3525, and the second tension sprocket shaft 3335 is the second chain 3331. By the second tension sprocket 3336 is rotated at each rotation speed.

That is, the wire 3600 provides a rotational speed that provides a tension force to pull the wire 3600 at a higher speed than the speed at which the wire 3600 is released at the drum 3150 by the structure. ), The wire 3600 may always receive a tensile force downward while the wire 3600 is loosened, thereby preventing the wire 3600 from being entangled.

On the other hand, the engaging region of the first tension roller 3524 and the second tension roller 3227 to tension the wire 3600 is the outer periphery of the drum 3150 and the support roller 3531 on which the wire 3600 is supported. It is preferably located at the tangential line connecting the grooves (see 'L' in Fig. 4c). With this structure, the load of the wire 3600 can be stably provided to the wire 3600 without being applied to the first tension roller 3524 and the second tension roller 3525.

Then, the wire 3600 is bent and supported by the support roller 3531 and is positioned vertically below the rotation axis of the drum 3150 by the wire left and right guide rollers 3535, the wire back and forth guide rollers 3537, and the wire guides 3533. It is preferably guided and supported to have a structure that receives its own weight perpendicularly ('Z' axis direction).

Such a structure is preferable because the hoist unit 2000 can maintain the balance of the unmanned aerial vehicle 1000 more stably even when lifting or lowering or moving an object.

Next, as shown in FIG. 6B, when the first and second tension sprockets 3333 and 3336 rotate by rotation of the drum 3150 opposite to that of FIG. 6A, the first and second tension sprocket shafts coupled thereto ( 3332 and 3335 rotate respectively.

When the first tension sprocket shaft 3332 is rotated, the first tension bearing 3352 is made of a one-way bearing, and thus the rotation force is not transmitted to the first tension shaft 3351.

In addition, even if the second tension sprocket shaft 3335 rotates, the rotational force cannot be transmitted to the second tension shaft 3526.

The wire 3600 pressurized by the first tension roller 3524 and the second tension roller 3525 by the rotation of the drum 3150 may have a wire carrier 3500 along the wire groove 3155 of the drum 3150. Cold as you move. In this process, since the wire 3600 is pressurized with a material such as urethane material having elasticity of the first tension roller 3524 and the second tension roller 3525, the first tension roller 3524 is raised while the wire 3600 is raised. And the second tension roller 3525 and rotate the first tension gear 3525 and the second tension gear 3528 by the rotation, and the first tension axis 3351 and the second tension axis 3526 are rotated. It rotates at the same speed and does not transfer this rotation to the first tensioned sprocket shaft 3332 and the second tensioned sprocket shaft 3335.

That is, in the process of winding the wire 3600, when the object is suspended, the weight of the object and the wire 3600 and the first and second tension rollers 3524 and 3527, the first and second tension gears 3525 and 3528, The wire 3600 is wound with an appropriate tensile force in the process of winding on the drum 3150 because a tension force or a pulling force is applied to the wire 3600 by the rotational force for rotating the first and second tension axes 3351 and 3526. Therefore, the winding 3600 may be prevented from being entangled in the winding process.

The carrier transfer part 3700 winds the wire carrier 3500 to the drum 3150 by winding the ball screw 3710 coupled with the first and second ball screw sprockets 3325 and 3327, respectively, to release the wire 3600. It can be moved stably by the moving distance along the 'X' axis direction. The ball screw 3710 is coupled with the screw bushing 3730 coupled to the wire carrier 3500, and by this coupling, the rotational motion of the ball screw 3710 may be converted into the linear motion of the wire carrier 3500.

The ballscrew 3710 is preferably spaced apart in parallel to the vertical direction of the wire carrier 3500 so that the wire carrier 3500 can be stably moved.

The sensor unit 3900 has a wound position in which the wire 3600 is completely wound on the drum 3150 while the wire carrier 3500 moves to the left and right (see FIG. 7A), and the wire 3600 is completed on the drum 3150. Wire carrier 3500 to control the position between the unwinding position (see FIG. 7D), the rotational speed of the drum 3150 to the lifting and lowering speed of the wire 3600, and the moving speed of the wire carrier 3500. ) Function to detect the position of

The sensor unit 3900 is provided in the shape of a flat plate-shaped sensor plate 3910 and, for example, a 'c' on the lower side of the wire carrier 3500 to detect whether the sensor plate 3910 is located inside the 'c' shape. It consists of a sensor 3930 that can.

The sensor plate 3910 and the sensor 3930 may be replaced with various kinds of known sensors.

In this configuration, when the wire 3600 is released while moving from the position of FIG. 7A to the position of FIG. 7B, the speed is slowly increased while in a stationary state, and then the wire is slowly moved from the position of FIG. 7B to the position of FIG. 7C at a set normal speed. When 3600 is released and the speed is slowly decelerated in the position of FIG. 7C, when the wire carrier 3500 reaches FIG. 7D, the rotation of the motor 3110 is stopped. As the current is supplied to the 3110, the motor 3110 may maintain a kind of brake function to prevent the drum 3150 from rotating due to the weight of an object suspended on the wire 3600.

Although the structure supporting the configuration according to the present invention has been described in part, the non-explained bearing, structure, etc. may be combined with the hoist case 2010 to maintain the function and structure as described above.

For reference, a bearing is included as a configuration in order to rotate the various shafts according to the present invention, and these bearings are not separately given reference numerals, and as necessary, the reference numerals of the bearings are shown in FIGS. 'brg'.

Accordingly, according to the present invention, when the wire is wound or unwound in the hoist unit, it is possible to provide a hoist unit for an unmanned aerial vehicle and an unmanned aerial vehicle having the same, which can be stably wound or unwound at the correct position of the drum.

In addition, it is possible to provide a hoist unit for an unmanned aerial vehicle and an unmanned aerial vehicle having the same, because the wire can always maintain a tensile force when the wire is wound or unwound in the hoist unit.

In addition, it is possible to provide a hoist unit for an unmanned aerial vehicle having a simple and convenient use and an unmanned aerial vehicle having the same.

Although various embodiments of the present invention have been illustrated and described herein, it will be apparent to those skilled in the art that the present invention may be modified without departing from the spirit or spirit of the present invention. It is intended that the scope of the invention be defined by the claims appended hereto and their equivalents.

1000: unmanned aerial vehicle 1100: main body
1200: arm 1300: propeller
1400 support member 1500 landing part
2000: Hoist Unit 2010: Hoist Case
3000: Hoist 3105: Drive part housing
3100: drive unit 3110: motor
3113: motor shaft 3130: reducer
3150: Drum 3153: Drum Shaft
3155 wire groove 3157 drum sprocket
3159: Drum Chain
3300: power transmission unit 3311: first axis
3312: 1st axis housing 3313: 1st axis drive sprocket
3315 1st driven 1st sprocket 3317: 1st driven 2nd driven sprocket
3321: First Chain 3323: First Chain Tensioner
3325: first ball screw sprocket 3327: second ball screw sprocket
3331: 2nd Chain 3332: 1st Tension Sprocket Shaft
3333: first tension sprocket 3335: second tension sprocket shaft
3336: second tension sprocket 3338: idle sprocket
3500 wire carrier 3510 carrier frame
3520: wire tension member 3521: first tension axis
3522: 1st tension bearing 3523: 1st tension clutch
3524: first tension roller 3525: first tension gear
3526: second tension axis 3527: second tension roller
3528: second tension gear 3529: tension free housing
3531: support roller
3533: Wire guide 3535: Wire right and left guide roller
3537: Wire before and after guide roller
3600: Wire
3700: carrier transfer part 3710: ball screw
3730: Screw Bushing
3900: sensor unit 3910: sensor plate
3930: detection sensor brg: bearing

Claims (7)

In the hoist unit for an unmanned aerial vehicle,
A battery is supported and includes a main body capable of receiving a control unit for controlling and supplying power to the unmanned aerial vehicle, a plurality of arms radially coupled to the main body so as to support a propeller, and a landing unit provided to land the main body. A drum coupled to the body of the unmanned aerial vehicle, the wire being wound and unwound; Including a hoist unit having a drive unit for providing power to the drum,
The drum is provided with a wire groove recessed along the outer periphery of the drum to be coupled to the wire,
The hoist unit further comprises a wire carrier for cooperating with the rotation of the drum to guide the wire to the corresponding position of the wire groove in the process of winding or unwinding the wire along the rotation axis direction of the drum. Hoist unit. The method of claim 1,
And the wire carrier includes a wire tensioning member coupled to the wire to provide a tensile force to the wire in a direction in which the wire is released in the process of the wire unwinding from the drum. The method according to claim 1 or 2,
The hoist unit,
A power transmission unit for transmitting power from the driving unit to the wire carrier, a carrier transfer unit for moving the wire carrier in parallel with the axial direction of the drum, a winding position of the wire wound on the drum, and an unwinding position of the drum Hoist unit comprising a sensor unit for detecting the position of the wire carrier in the process of moving between. In a hoist unit for an unmanned aerial vehicle capable of lifting or carrying an article,
A battery is supported and includes a main body capable of receiving a control unit for controlling and supplying power to the unmanned aerial vehicle, a plurality of arms radially coupled to the main body so as to support a propeller, and a landing unit provided to land the main body. A drum coupled to the body of the unmanned aerial vehicle, the wire being wound and unwound; Including a hoist unit having a drive unit for providing power to the drum,
The hoist unit, the hoist unit further comprises; a wire carrier having a wire tensioning member coupled to the wire to provide a tensile force to the wire in the direction in which the wire is released in the process of the wire is released from the drum; . The method of claim 4,
The wire tension member includes: a tension roller provided in pairs to enable the wire to be pressed; A tension gear in which the tension roller is rotatably engaged; And a tension shaft coupled to the drum side and interlocked with a tension sprocket shaft to provide power to any one of the tension gears.
Hoist unit, characterized in that between the tension sprocket shaft and the tension shaft includes a clutch for adjusting the rotation speed of the tension shaft different from the rotation speed of the tension sprocket shaft. The method of claim 5,
The wire carrier includes a support roller positioned below the drum rotation axis to support the wire so that the wire is unwinded and wound in the tangential direction of the wire groove,
The tension roller is a hoist unit, characterized in that positioned to press the wire in the tangential direction of the support roller and the wire groove. An unmanned aerial vehicle comprising the hoist unit of claim 1.

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