KR20210133900A - Longer aviation drone - Google Patents

Abstract

The present invention relates to a drone. A usual drone includes a means for remote control, includes a plurality of propellers and a plurality of motors, and is levitated in the air by the rotation of the propellers by being controlled wirelessly from a distance by the guidance of radio waves. The drone in accordance with the present invention comprises: a central part (111) in the middle; a plurality of connection parts (113) expanding radially from the central part (111); a main propeller (130) installed on the central part (111) to generate lift; a sub-propeller (150) installed on each end of the connection parts (113) to mainly perform direction change; and a tilting guidance device (200) including a tilting guidance ring (210) and a tilting connection part ring (220), thereby extending flight time and flight distance. Therefore, distance traveled can be extended, and flight posture, direction change and propelling force can be improved.

Description

Long Flying Drone{LONGER AVIATION DRONE}

The present invention relates to a drone, and in particular, relates to a drone provided to increase flight time and flight distance. In general, the configuration of a drone includes a means for remote control, includes a plurality of propellers and a plurality of motors, and is wirelessly controlled from a distance according to the induction of radio waves, and operates in a way that floats by rotation of the propeller.

In general, a drone flies by rotating a propeller with a plurality of motors. Referring to the related art, Patent Registration No. 1853354 (April 24, 2018) is provided. And registered Patent No. 1559898 is provided to select a moving direction according to the moving direction of an adjacent object.

The present invention intends to extend the moving distance by flying for a long time, and to improve the flying posture or direction change and propulsion. More specifically, the main propeller is used to create lift, and the sub propeller is used to control flight attitude and direction change and generate propulsion. In a situation where change of direction and propulsion is not required, only the main propeller rotates to generate lift, thereby reducing power consumption in the subpropeller and providing various adjustments to the drone's posture.

The drone of the present invention is provided to fly for a long time, a frame in which a member necessary for flight is installed; a main propeller installed in the center of the frame; A plurality of sub-propellers installed at the edge end of the frame; A controller for controlling the rotation of the main propeller or subpropeller, and a management unit provided with at least one of a battery for supplying power to a motor rotating the subpropeller; includes, wherein the subpropeller rotated by the motor is lifted by the main propeller The posture or movement direction of the frame is adjusted, and the frame is provided with a central part where the main propeller is installed, a connection part extending radially from the central part and connecting the main propeller and the sub-propeller, and an internal combustion engine rotating the main propeller is installed in the central part. , The main propeller is provided with a first propeller and a second propeller installed on the same axis.

In addition, a first rotating shaft connected to the first propeller and a second rotating shaft connected to the second propeller are installed on the upper side of the frame, and a central portion in which an internal combustion engine for rotating the main propeller is installed is provided on the lower side of the frame, the first rotating shaft and the first rotating shaft The second rotating shaft is provided on the coaxial axis, and when the internal combustion engine rotating shaft rotates in one direction at the center, a coaxial inversion module for rotating the first rotating shaft in the forward direction and rotating the second rotating shaft in the reverse direction is provided, and the internal combustion engine is provided on the lower surface of the central part is mounted, a storage unit in which fuel supplied to the internal combustion engine is stored is mounted on a lower surface of the internal combustion engine, the internal combustion engine and the storage unit are disposed on the same axis as each rotation shaft, and a first propeller and a second propeller rotated by the internal combustion engine prevents the rotation of the frame due to the rotational reaction force, creates a lift force that lifts the frame, and the diameter of the center is formed smaller than the overall length of the main propeller.

In addition, a plurality of connection parts are provided, the extension length of the connection part is greater than the rotation radius of the main propeller, the sub propeller is disposed at the end of the connection part, or it is disposed on the support part connected to the connection part, and at the end of the connection part is a motor directly connected to the sub propeller installed, the main propeller rotating shaft and the sub propeller rotating shaft are always kept parallel to each other, and the management unit is installed on the lower surface of the connection part between the main propeller and the sub propeller. In order not to prevent it, the management part is formed in a plate shape extending along the longitudinal direction of the connection part and extending parallel to the rotation of the main propeller from the lower surface of the connection part toward the lower side of the connection part, and the thickness of the management part is formed to be less than the thickness of the connection part.

In addition, the main propeller rotation shaft and the sub propeller rotation shaft are parallel to each other, and when a virtual first circle having the rotation radius of the main propeller as a radius and a second virtual circle having the rotation radius of the sub propeller as the radius are defined, each sub The propeller is disposed at an equal angle on a third imaginary circle centered on the main propeller rotation axis, and the radius of the third circle is greater than the sum of the radius of the first circle and the radius of the second circle. The rotating shaft, the central part, the internal combustion engine, and the storage part are sequentially arranged on the same axis, and the diameter of the internal combustion engine and the diameter of the storage part are made smaller than the diameter of the central part.

In more detail, the present invention is made on the basis of the above configuration, and the central portion 111 in the middle; a plurality of connecting portions 113 radially extending from the central portion 111; a main propeller 130 installed in the center 111 to generate lift; a sub-propeller 150 installed at each end of the connection unit 113 to perform a direction change; include And it further includes a tilting guide device 200 including a tilting guide ring 210 and a tilting connection part ring 220, the tilting guide ring 210 is a ring shape having an inner circumferential surface larger than the outer circumferential surface of the central portion (111) , the tilting connection part ring 220 is disposed in the radial center of the connection part 113 by taking a ring shape having an inner peripheral surface larger than the outer peripheral surface of the tilting guide ring 210, and the connection part 113 radially extends from here, the tilting connection part The tilting guide ring 210 is interposed on the inner circumferential side of the ring 220 and the central portion 111 is interposed on the inner circumferential side of the tilting guide ring 210 .

In addition, the first tilting axis 211 and the second tilting axis 212 are included. The first tilting axis 211 and the second tilting axis 212 are two imaginary straight lines xy orthogonal to each other on a plane at the center of the ring shape. ) and placed on each. The first tilting axis 211 is disposed between the inner circumferential surface of the tilting guide ring 210 and the outer circumferential surface of the central portion 111 to constitute a pivot axis, and the second tilting axis 212 is the outer circumferential surface of the tilting guide ring 210 and the tilting connection part ring It is disposed between the inner circumferential surfaces of 220 and constitutes a pivot axis, so that uniaxial tilting (tx) is performed by the pivot axis of the first tilting axis 211 , and at right angles to the single axis by the pivot axis of the second tilting axis 212 . Since the tilting (ty) of the rudder shaft is performed, and tilting is made in all directions by the sum of the two orthogonal axes, it is possible to reduce the reduction in the lift force of the main propeller 130 at the time of direction change. In addition, in order to reduce power consumption, the subpropeller 150 may be driven only for direction change.

According to the above configuration, the main propeller is mainly responsible for generating lift, and the sub propeller is mainly dedicated to generating flight posture, change of direction, and propulsion, so there is no need to use flight posture, change of direction, and propulsion. In this case, only the main propeller can rotate. Through this, it is possible to reduce the consumption of power consumed by the subpropeller and to easily take various postures.

1 is a perspective view of a drone embodiment;
Figure 2 is a plan view of the drone of Figure 1;
Figure 3 is an example of the present invention drone, Figure 3A is a perspective view of a major part, Figure 3B is an exploded perspective view of a certain part.
4 is an exploded perspective view of a main part;
5 is a comparison of flight operations of drones. FIGS. 5A and 5B are operational state diagrams of a drone of the present invention, and FIG. 5C is an operational state diagram of a conventional drone.

A detailed description of the drone will be described along with the disclosed drawings. First, the configuration of the drone will be described with reference to FIGS. 1 and 2 . The drone includes a frame 110 , a main propeller 130 , and a subpropeller 150 . The frame 110 serves as a support means for supporting the main propeller 130 and the sub propeller 150 . In addition, various members necessary for rotating and controlling the propeller are installed in the frame 110 that is the object of the flight. According to such a drone, the main propeller 130 that is always rotated during flight is driven by the internal combustion engine 140 , and the subpropeller 150 that is rotated only when necessary is driven by the motor 160 . Accordingly, as compared with a quadcopter in which flight and direction change are performed simultaneously by the battery 190, the flight time limitation by the battery 190 is relaxed, so that the flight time (including flight distance) can be extended.

And the drone can be made as a quad-copter, usually with four propellers, to simplify the control and operation principle. The quadcopter is centered as two of the four propellers facing each other rotate in the same direction and the other two propellers rotate in the opposite direction. In addition, the quadcopter is controlled to ascend, descend, and turn left and right just by adjusting the rotation speed of each propeller. Therefore, the quadcopter is suitable for drones controlled by radio waves from a remote control provided outside. Since it is difficult to rotate the four propellers at different rotational speeds with one power unit, a motor 160 for rotating the corresponding propellers is installed for each propeller. It is difficult to secure sufficient flight time with only the battery 190 having a limited weight. This is because the quadcopter uses four motors 160 to generate lift and change direction at the same time, so power consumption is large.

Therefore, it is preferable to separate the main propeller 130 and the subpropeller 150 in order to increase the flight time. One main propeller 130 is installed in the center of the frame 110 . Usually, the rotation of the main propeller 130 generates lift (floating) in the air and controls the altitude. Instead, it is difficult to adjust the posture or movement direction of the frame 110 only by the main propeller 130 . A plurality of sub-propellers 150 are installed at the edge end of the frame 110 and control the posture or movement direction of the frame 110 lifted by the main propeller 130 . At this time, the sub-propellers 150 are disposed at positions symmetrical to each other with respect to the rotation axis of the main propeller 130 . In order to easily perform the control of the direction change, the subpropeller 150 may take the form of a quadcopter, and may be driven only when the direction is changed, not normally driven. Since only some subpropellers 150 are operated even in the case of direction change, the power of the battery 190 consumed by the subpropellers 150 is significantly reduced compared to that of the quadcopter.

Even if the motor 160 is applied as the rotation means for rotating the main propeller 130, like the subpropeller 150, only one main motor 160 that rotates the main propeller 130 normally consumes power. , it consumes less power compared to a quadcopter. Therefore, according to the main propeller 130 and the sub propeller 150 of the present invention, a long flight is possible. When the internal combustion engine 140 using fossil fuel is applied as a rotating means for rotating the main propeller 130, the flight time of the frame 110 or the drone is dramatically improved. Since it is unreasonable to install the internal combustion engine 140 in each of the four sub-propellers 150, the motor 160 is installed in the sub-propeller 150 and the internal combustion engine 140 is installed only in one main propeller 130. Consider productivity and miniaturization aspects. In addition, since the motor 160 for rotating the subpropeller 150 is driven only when the direction is changed, power consumption of the battery 190 is minimized. The difference from a general quadcopter is that the main propeller 130 is additionally installed at the center of the frame 110 . Both the main propeller 130 and the sub-propeller 150 are parallel to the z-axis direction. In order to float the frame 110 using one main propeller 130 , the total length of the main propeller 130 may be longer than the total length of the subpropeller 150 . Due to the difference in length, the rotation radius r1 of the main propeller 130 may be greater than the rotation radius r2 of the subpropeller 150 . The amount of air pushed downward by the rotating main propeller 130 may be greater than that of the subpropeller 150 .

And when the main propeller 130 is installed higher than the sub propeller 150, if the air pushed downward by the main propeller 130 affects the sub propeller 150, the normal operation of the sub propeller 150 is limited. do. When the main propeller 130 is installed at the same height as the subpropeller 150 , interference between the two is a problem. In order to ensure the normal operation of the sub-propeller 150 and to exclude interference, the sub-propeller 150 is spaced apart from the main propeller 130 on a plane. A virtual first circle k1 having a rotation radius r1 of the main propeller 130 as a radius, and a second virtual circle k2 having a rotation radius r2 of the subpropeller 150 as a radius are defined, each subpropeller 150 is The main propeller 130 is disposed at an equal angle on the arc of the virtual third circle k3 centered on the axis of rotation. In more detail, when the position of the rotation shaft of the main propeller 130 on a plane is p0 and the positions of the four rotation shafts 151 of the sub propeller 150 are p1, p2, p3, and p4, p0 is the first circle k1 and It becomes the center of the third circle k3, and p1, p2, p3, p4 are arranged so as to be conformal to the arc of the third circle k3. The radius r3 of the third circle k3 is greater than the sum of the radius r1 of the first circle k1 and the radius r2 of the second circle k2.

In addition, the frame 110 is provided with a central portion 111 in which the main propeller 130 is installed, and a plurality of connecting portions 113 extending in a radial direction from the central portion 111 . The center 111 is formed at the center of gravity of the frame 110 or the center of gravity of the entire drone. A main propeller 130 rotating shaft is disposed at the center of gravity of the frame 110 or the drone. The sub propeller 150 is spaced apart from the main propeller 130 through the connection part 113 . In order to sufficiently space the main propeller 130 and the subpropeller 150 apart, the extension length of the connection part 113 may be greater than the rotation radius r1 of the main propeller 130 . A support part 115 is additionally provided on the frame 110 in order to prevent shaking of the connection part 113 extending long from the center part 111 . The support part 115 connects each connection part 113 at a position spaced apart from the central part 111 .

The sub-propeller 150 is connected to the end of the connection part 113 or disposed on the support part 115 connected to the connection part 113. ), it is desirable to form it to minimize the influence of the moving wind. In order not to be affected by the wind pushed by the propeller, the support part 115 is spaced apart from the first circle k1 on the outside of the first circle k1. In addition, the support part 115 is spaced apart from the second circle k2 on the outside of the second circle k2. As a result, the support 115 disposed between the first circle k1 and the second circle k2 is less affected by the wind pushed from each propeller. The wind pushed from the main propeller 130 may also affect the central part 111 . The diameter L of the central part 111 is smaller than the overall length of the main propeller 130 so that the lift generated by the main propeller 130 is greater than the force that the wind pushed from the main propeller 130 pushes the central part 111. can

The smaller the diameter L of the central part 111 compared to the overall length of the main propeller 130, the greater the communication space 90 through which the wind pushed by the main propeller 130 can escape without colliding with the central part 111. can The larger the communication space 90 is, the more advantageous the flight of the frame 110 is. In order to maximize the area of the communication space 90 , the diameter of the rotating means installed in the central part 111 is also limited within the diameter L of the central part 111 . While having a limited diameter, the rotating means of the main propeller 130 in order to rotate the main propeller 130 much longer than the corresponding diameter at high speed is an internal combustion engine 140 that can generate a stronger force compared to the motor 160 it's good to be That is, in the present invention, the internal combustion engine 140 for rotating the main propeller 130 is installed in the central portion 111 of the frame 110 . On the other hand, since the sub-propeller 150 is rotated only when necessary for a change of direction, unlike the main propeller 130, which must always be rotated for flight, the rotating means of the sub-propeller 150 is adopted as the motor 160 and the connection part ( 113) is preferably configured to be directly connected to the sub-propeller 150 at the end.

Since the main propeller 130 is adopted as the internal combustion engine 140 , it has a storage unit 120 for storing fossil fuel, which is a power source thereof. When the fuel stored in the storage unit 120 is in a liquid state, the center of gravity of the frame 110 may be changed while flowing by a direction change or the like. The internal combustion engine 140 and the storage unit 120 are installed in the central portion 111 so as not to change the center of gravity due to the fuel stored in the storage unit 120 , and are disposed on the same axis as the rotation shaft of the main propeller 130 . Referring to FIG. 1 , the internal combustion engine 140 is mounted on the lower surface of the central portion 111 , and the storage unit 120 is mounted on the lower surface of the internal combustion engine 140 . A connection pipe 10 through which fuel is communicated is connected to the storage unit 120 and the internal combustion engine 140 . The fuel stored in the storage unit 120 is input to the internal combustion engine 140 through the connection pipe 10 . In addition, it includes the management units (180, 190). At least one of a controller 180 for controlling rotation of the main propeller 130 or subpropeller 150 and a battery 190 for supplying power to the subpropeller 150 are provided in the management unit. The controller 180 is provided with a communication module for wireless communication with a remote control provided outside, and a processing module for processing a control signal of the remote control received from the communication module. The processing module operates to drive the rotation means of the main propeller 130 or to drive and control the rotation means of the selected sub propeller 150 according to the control signal.

On the other hand, since the diameter L of the central part 111 is increased under the influence of the management unit disposed in the central part 111, the communication space 90 through which the air pushed by the main propeller 130 can escape is reduced. In order to minimize the diameter L of the central part 111 , the management unit is installed on the lower surface of the connection part 113 . In order to prevent the communication space 90 from being reduced by the management part installed on the lower surface of the connection part 113 , the thickness of the management part is formed to be less than the thickness of the connection part 113 . Instead, the management unit extends parallel to the axis of rotation of the main propeller 130 or extends along the longitudinal direction of the connection unit 113 . That is, the management unit may be formed in a plate shape, and is mounted on the lower surface of the connection unit 113 in a vertically erected state. The management unit mounted on the lower surface of the connection part 113 does not collide with the air pushed downward by the rotation of the main propeller 130 .

When the main propeller 130 rotates, the frame 110 rotates under the influence of the rotational reaction force. In order to prevent the frame 110 from rotating, the main propeller 130 has a first propeller 131 installed coaxially and A second propeller 132 is provided. A first rotational shaft 171 connected to the first propeller 131 and a second rotational shaft 172 connected to the second propeller 132 are installed above the central portion 111 . An internal combustion engine 140 for rotating the main propeller 130 is installed below the central portion 111 . The first rotation shaft 171 and the second rotation shaft 172 are provided on the same axis. A coaxial inversion module is provided in the central portion 111 that rotates the first rotation shaft 171 in the forward direction and the second rotation shaft 172 in the reverse direction when the rotation shaft of the internal combustion engine 140 rotates in one direction. For example, the first rotation shaft 171 may be formed in a tubular shape, and when the rotation shaft of the internal combustion engine 140 rotates in one direction, it is rotated counterclockwise. The second rotation shaft 172 is rotatably inserted into the first rotation shaft 171 , and when the rotation shaft of the internal combustion engine 140 rotates in one direction, it is rotated clockwise. Through this, the rotation of the frame 110 by the main propeller 130 is prevented. That is, the rotational reaction force of the first propeller 131 and the rotational reaction force of the second propeller 132 may be offset from each other.

Based on the drone having the above configuration, a more advanced drone of the present invention will be described. However, in order to clarify the description of the configuration to be pursued by the present invention and avoid confusion, the illustration of the support part 115, the main propeller 130, the subpropeller 150, the controller 180, the battery 190, etc. is omitted for convenience. became Reference is made to the embodiment shown in Figure 3 below.

The drone of the present invention, the central center 111 and; a plurality of (eg, four) connecting portions 113 radially extending (including direct and indirect extension) from the central portion 111; a main propeller 130 installed in the central part 111 and rotated by an internal combustion engine 140, etc. to mainly generate lift; a subpropeller 150 installed at each end of the connection part 113 and rotated by a motor 160 and the like to mainly perform direction change; A battery 190 that is installed in the connection part 113 and supplies energy sources (electricity, fuel, etc.) such as power supply to the controller 180 and the motor 160 for controlling the rotation of the main propeller 130 and the sub propeller 150 ) management unit provided with energy supply means such as; It is based on drones that include

The configuration of the tilting guide device 200 including the tilting guide ring 210 and the tilting connection part ring 220 is added to the drone of the present invention. The tilting guide ring 210 takes a ring shape (ring shape) having a larger circular inner circumferential surface than the cylindrical outer circumferential surface of the central portion 111 as shown in the drawing. The outer circumferential surface of the central portion 111 may take a non-circular polygonal (including triangular) shape of a ring shape. The tilting connection part ring 220 is disposed in the radial center of the connection part 113 by taking a ring shape having a larger circular inner circumferential surface than the circular outer circumferential surface of the tilting guide ring 210 as shown in the drawing, and the connecting part from the outer circumferential surface of the tilting connection part ring 220 (113) extends radially. That is, the central end of the connection part 113 is fixed to the tilting connection part ring 220 . If the outer circumferential surface of the tilting guide ring 210 takes a polygonal ring shape, the tilting connecting portion ring 220, particularly, its inner circumferential surface may have a polygonal shape corresponding to the polygonal shape. The tilting guide ring 210 is spaced apart from the inner circumferential side of the tilting connection part ring 220 (that is, it is inserted to give a movable space), and the center 111 is spaced apart from the inner circumferential side of the tilting guide ring 210 It is interposed so as to be all arranged on the same axis (concentric circle, center of gravity) of the ring shape.

And it further includes a first tilting axis 211 and a second tilting axis 212 respectively lying on two imaginary straight lines xy orthogonal to the plane at the center of the ring-shaped coaxial axis. The first tilting axis 211 is disposed between the inner circumferential surface of the tilting guide ring 210 and the outer circumferential surface of the central portion 111 to constitute a pivot axis and is assembled to pivot (rotate around the pivot axis) based on this. In addition, the two tilting axes 212 are disposed between the outer circumferential surface of the tilting guide ring 210 and the inner circumferential surface of the tilting connection part ring 220 to constitute a pivot axis and are assembled to pivot based on this. And one axis of tilting (tx) (tilting) is performed by the pivot movement of the pivot axis of the first tilting axis 211, and the second axis performed at right angles to one axis by the pivot movement of the pivot axis of the second tilting axis 212. The tilting (ty) is made, and tilting is performed in all directions by the sum of tilting (synthesis of tilted angles) of two orthogonal pivot axes.

Therefore, even when the direction is changed, the main propeller 130 having a rotational shaft in the central portion 111 can rotate in a state (z-axis direction) whose rotational shaft is perpendicular to the ground so that the lift force is not reduced at all and can be preserved as it is. Here, the side that rotates (or rotates the most strongly) among the plurality of subpropellers 150 (four in the case of a quadcopter) generates only its lift by the rotation of the subpropeller 150 and is connected thereto The connection part 113 is lifted higher than that of the other side, and accordingly, tilting occurs due to the pivot movement by the pivot axis of the first tilting axis 211 and the second tilting axis 212, and eventually, the center 111 is left as it is. Only the sub-propeller 150 is in a tilted state (w-axis direction) and has a driving force to change direction or to proceed horizontally. The main propeller 130 is responsible for only the vertical lift in the z-axis direction, so that the lift force can be preserved without loss even during direction change or propulsion. And since only the sub-propeller 150 has its rotation axis in the w-axis direction and can be used for direction change or propulsion, it is possible to reduce consumption of energy sources such as power required for other things and to fly a long distance for a long time.

In relation to the above, reference is made to the bar illustrated in FIGS. 5A and 5B of the drone of the present invention. 5A is before the tilting operation, and FIG. 5B is after the tilting operation is performed. FIG. 5C illustrates the tilting operation of a conventional drone, and since the entire drone has a tilt (tilting) at the same time, it is tilted at the same time to the main propeller 130 with a rotation axis in the center 111 and from the main propeller 130. The direction of the generated wind is directed not in the z-axis direction perpendicular to the ground, but in the inclined w-axis direction, resulting in a decrease and loss of (negative) lift.

A tilting operation device, which is a device that operates (rotates) by mechanical and electrical force, is installed on the pivot axes of the first tilting axis 211 and the second tilting axis 212, and the tilting operation is performed regardless of the rotation of the subpropeller 150. can make it work. The electrical force may employ a motor or solenoid for turning tilting operation. Through this, the connection unit 113 can be maintained in a horizontal state during activities such as shooting, performance, and special purpose, and only the central portion 111 can be tilted when necessary.

frame 110; central 111; connection 113; support 115;
storage unit 120; main propeller 130; internal combustion engine 140;
sub-propeller 150; motor 160;
a first rotating shaft 171; a second rotating shaft 172;
management units (180, 190);

Claims (1)

a central center 111 in the middle; a plurality of connecting portions 113 radially extending from the central portion 111; a main propeller 130 installed in the central portion 111 to generate lift; a sub-propeller 150 installed at each end of the connection part 113 and mainly performing a direction change; a tilting guide device 200 including a tilting guide ring 210 and a tilting connection part ring 220; In a long-flying drone comprising:
The tilting guide ring 210 takes a ring shape having an inner circumferential surface larger than the outer circumferential surface of the central portion 111 , and the tilting connection part ring 220 takes a ring shape having an inner circumferential surface larger than the outer circumferential surface of the tilting guide ring 210 to connect the portion 113 . ), the connecting portion 113 is radially extended from the tilting connecting portion ring 220, and the tilting guide ring 210 is interposed on the inner circumferential side of the tilting connecting portion ring 220, and the tilting guide ring ( A central portion 111 is interposed on the inner circumferential side of the 210),
It further includes a tilting axis 211 and a tilting axis 2 212 respectively placed on two imaginary straight lines xy orthogonal to each other on a plane at the center of the ring shape, and the tilting axis 211 is a tilting guide ring 210 ) is disposed between the inner circumferential surface of the central portion and the outer circumferential surface of the central portion 111 to form a pivot axis, and the tilting axis 212 is disposed between the outer circumferential surface of the tilting guide ring 210 and the inner circumferential surface of the tilting connecting portion ring 220 to constitute a pivot axis. Thus, one-axis tilting (tx) is performed by the pivot axis of the first tilting axis 211, and the other axis tilting (ty) performed at right angles to one axis by the pivot axis of the second tilting axis 212 is made, so that it is orthogonal The tilting is made in all directions by the combination of the tilting angles of the two axes,
An internal combustion engine 140 rotating the main propeller 130 is installed on the lower side of the central portion 111 on the same axis as the main propeller 130 rotation axis to become the center of gravity, and lift is generated on the rotating side of the subpropeller 150 . Through the pivot movement of the first tilting axis 211 and the second tilting axis 212 when levitated relatively high, the rotational axis of the subpropeller 150 is tilted in the w-axis direction and is used for direction change and propulsion, and the center ( 111) is not tilted and left as it is, so that the vertical lift force in the z-axis direction of the main propeller 130 is preserved without loss,
The sub-propeller 150 is directly connected to the motor 160 and rotationally driven, the motor 160 is installed at the end of the connection part 113 , and the management unit including the battery 190 for power supply is the lower surface of the connection part 113 . Long flight drone, characterized in that it is installed in.

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