KR20220105489A - Takeoff and landing device for drone - Google Patents

Abstract

The present invention relates to a take-off and landing device for a drone. According to the present invention, the take-off and landing device for a drone comprises: a body part; a flight part mounted on the body part and inducing flight of the body part; a control part mounted on the body part; and a seating part mounted on the control part and able to grip a structure. Accordingly, a drone can stably take off and land on the structure.

Description

Takeoff and landing device for drones {TAKEOFF AND LANDING DEVICE FOR DRONE}

The present invention relates to a take-off and landing device for a drone, and relates to a take-off and landing device for a drone capable of stably taking off and landing on a geometrical structure and mitigating instantaneous flight posture fluctuations.

In general, a drone refers to an airplane or helicopter-shaped unmanned aerial vehicle that can fly and be controlled by radio wave guidance without a pilot on board.

Drones consist of hardware and software. The hardware element is the air vehicle. Such a flying vehicle may include a body, three or more wings extending radially from the body, and a propeller provided on the wings and individually driven by a motor to provide propulsion.

Recently, technologies for grafting drones to various fields have been actively developed. In the case of using a drone, attitude control for flight is considered an essential condition, and many studies have been conducted. However, in the case of drones, they have a weak point in landing, so various systems and accessories for safe landing are being developed.

On the other hand, the landing of drones is made under the assumption or condition of landing on a flat ground, but at a time when the utility of drones increases and the field of application is diversifying, the problem that drones should be able to land at various landing points is emerging. . In particular, in the case of drones, if the posture control becomes unstable, it is easy to fall, so it is necessary to develop a technology to prepare for this. Therefore, there is a need to improve it.

The background technology of the present invention is published in Republic of Korea Patent Publication No. 10-2128678 (Registered on June 24, 2020, title of invention: unmanned aerial vehicle for marine rescue).

The present invention has been devised to improve the above problems, and it is an object of the present invention to provide a take-off and landing device for a drone capable of stably taking off and landing on a geometrical structure and mitigating instantaneous flight posture fluctuations.

A take-off and landing device for a drone according to the present invention includes: a body portion; a flight unit mounted on the body portion and guiding the flight of the body portion; a control unit mounted on the body portion; and a seating part mounted on the adjusting part and capable of gripping the structure.

The adjusting unit includes: an adjusting rotating unit rotatably mounted to the body portion; and a control cable part wound or unwound on the control rotating part and connected to the seating part.

The control unit may further include a control sensing unit for measuring the load of the control cable unit.

The seating part is connected to the adjustment part and a seating cushioning part for alleviating the impact; and a seating gripper coupled to the seating buffer part and capable of gripping the structure.

The seating grip portion includes a gripping housing coupled to the seating buffer portion; a gripping joint part mounted on the gripping housing; and a grip driving unit for manipulating the grip joint portion.

The grip joint portion includes an upper joint portion mounted on the grip housing portion; a connection joint part connected to the upper joint part and rotatable, the length of which is variable; and a lower joint part connected to the connection joint part and coupled to the grip driving part.

The upper joint portion includes an upper housing portion coupled to the gripping housing portion; an upper cylinder part disposed below the upper housing part; an upper connector part connecting the upper housing part and the upper cylinder part and movable in the longitudinal direction of the upper housing part and the upper cylinder part; and an upper elastic part embedded in the upper housing part and elastically supporting the upper connector part.

The connection joint portion is a connection housing portion rotatably coupled to the upper joint portion; a connection cylinder part disposed below the connection housing part; a connection connector part connecting the connection housing part and the connection cylinder part and movable in the longitudinal direction of the connection housing part and the connection cylinder part; and a connection elastic part embedded in the connection housing part and elastically supporting the connection connector part.

It is characterized in that a plurality of connection joint portions are arranged in series.

The lower joint portion includes a lower housing portion rotatably coupled to the connection joint portion; a lower cylinder part disposed below the lower housing part and connected to the grip driving part; a lower connector part connecting the lower housing part and the lower cylinder part and movable in the longitudinal direction of the lower housing part and the lower cylinder part; and a lower elastic part embedded in the lower housing part and elastically supporting the lower connector part.

The grip driving unit includes a driving motor unit mounted on the grip housing unit; a driving rotation unit rotatable by the driving motor unit; and a driving wire part wound or unwound on the driving rotator as the driving rotator rotates, and connected to the gripping joint part.

The seating grip portion is formed in the grip joint portion, the gripping attachment portion attachable to the structure; characterized in that it further comprises.

In the take-off and landing device for a drone according to the present invention, when the seating part is coupled to a structure, the length of the adjusting part is reduced and the body part is guided to approach the structure.

1 is a diagram schematically showing a take-off and landing apparatus for a drone according to an embodiment of the present invention.
2 is a diagram schematically illustrating a control unit according to an embodiment of the present invention.
3 is a view schematically showing a seating unit according to an embodiment of the present invention.
4 is a view schematically showing a seated gripper according to an embodiment of the present invention.
5 is a diagram schematically illustrating an operating state of a seated gripper according to an embodiment of the present invention.

Hereinafter, an embodiment of the take-off and landing device for a drone according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a diagram schematically showing a take-off and landing apparatus for a drone according to an embodiment of the present invention. Referring to FIG. 1 , the take-off and landing apparatus 1 for a drone according to an embodiment of the present invention includes a body 10 , a flight unit 20 , an adjustment unit 30 , and a seating unit 40 . do.

The body portion 10 may have a case shape with an empty interior. The body portion 10 may include a light plastic material while maintaining rigidity. For example, the body portion 10 may include a body center portion 11 and a plurality of body arm portions 12 extending radially from the body center portion 11 . The body portion 10 may be provided with a battery for supplying power and a controller for controlling flight and take-off and landing. The battery is detachable from the body portion 10 and can be charged through separate charging.

A plurality of flight units 20 are mounted on the edge of the body portion 10, and provide a driving force for the flight of the body portion 10 while being rotated by the supplied power. For example, the flight unit 20 may be respectively disposed on the body arm unit 12 . The body portion 10 can fly by the propulsion force that is individually generated in the flight unit 20 .

The adjustment part 30 is mounted on the body part 10 . For example, the adjusting unit 30 may be manufactured including a rigid material that is difficult to deform, or may include a flexible material that is deformable. The adjusting unit 30 may be designed to increase or decrease its length.

The seating part 40 is mounted on the adjustment part 30 and may grip the structure 100 . For example, the seating unit 40 may hold the structure 100 having a complex boundary condition, such as a steel tower or a wind tower. In this case, the thickness of the frame provided in the structure 100 may be manufactured to be thinner than the grippable thickness of the mounting part 40 .

Accordingly, when the length of the adjusting unit 30 is increased so that the seat portion 40 grips the structure 100 , and the seat portion 40 is coupled to the structure 100 , the length of the adjustment unit 30 decreases while the body portion The landing may be completed as the 10 approaches the structure 100 .

2 is a diagram schematically illustrating a control unit according to an embodiment of the present invention. Referring to FIG. 2 , the adjusting unit 30 according to an embodiment of the present invention includes an adjusting rotating unit 31 and an adjusting cable unit 32 .

The adjusting rotation part 31 is rotatably mounted to the body part 10 . As an example, the control rotation unit 31 includes a pair of control rotation support parts 311 installed on the body portion 10, and a control rotation roller part 312 that is rotatably mounted on the control rotation support part 311, and adjustment It may include a control rotation motor unit 313 for rotating the rotating roller unit 312 in one direction or the other direction.

The control cable part 32 is wound or unwound on the control rotation part 31 , and is connected to the seating part 40 . For example, one end of the control cable unit 32 may be coupled to the control rotating roller unit 312 , and the other end may be coupled to the seating unit 40 . The control cable part 32 may maintain a connection state between the body part 10 and the seating part 40 .

The adjustment unit 30 according to an embodiment of the present invention may further include an adjustment detection unit 33 . The adjustment sensing unit 33 may measure the load of the adjustment cable unit 32 . For example, the adjustment sensing unit 33 may be mounted on the rotation shaft of the adjustment rotation roller unit 312 to measure a load applied when the adjustment rotation roller unit 312 rotates. In addition, the control sensing unit 33 is mounted on the control cable unit 32 to measure the tension of the control cable unit 32 itself. The adjustment sensing unit 33 may be connected to a control unit provided in the body unit 10 to transmit a signal. The controller may control the flight unit 20 by recognizing these signals.

On the other hand, the drone's flight posture instability occurs when the equilibrium of the entire energy system of a moving object is broken. At this time, the energy system consists of a balance between the propulsion force of the flight unit 20, a secondary induced effect by interaction with the wind, and self-weight due to gravity.

In the present invention, when the seating portion 40 grips the structure 100 , the adjustment rotation portion 31 is rotated to reduce the length of the adjustment cable portion 32 . Due to this, the body portion 10 gradually approaches the structure 100 . At this time, it is possible to measure the load currently generated due to the flight of the drone through the adjustment detection unit 33 . Therefore, it is possible to calculate the load currently occurring when the drone suddenly loses its flight posture, and based on this, it is possible to help stabilize the flight posture again.

More specifically, when the drone is flying to the extent that the seating part 40 is fixed to the structure 100 and the control cable part 32 is taut, it can be seen that a kind of balance system operates. At this time, a tensile force is applied to the control cable portion 32 connecting the structure 100 and the body portion 10 , and it can be seen that this tensile force is equal to the propulsion force of the current drone according to the equilibrium equation.

If a sudden instability of the flying posture of the drone occurs, this tension is lost or shows abnormal variability, and this variability can be monitored through the adjustment sensing unit 33 . For example, in the case of sudden loss of tension, if the drone is allowed to exert propulsion according to an arbitrary point having a component in the opposite direction of gravity, it is possible to prevent the drone from falling in an instant and maintain stability. After securing stability, it can be seated stably while measuring tension and posture again. On the other hand, if the tension is abnormally increased, it may occur due to the interference of loads such as wind load. have.

3 is a view schematically showing a seating unit according to an embodiment of the present invention. Referring to FIG. 3 , the seating part 40 according to an embodiment of the present invention includes a seating cushioning part 41 and a seating gripping part 42 .

The seating cushioning part 41 is connected to the adjusting part 30 and relieves the impact. For example, the seating buffer unit 41 may be connected to the control cable unit 32 and may have one or more coil spring shapes in the longitudinal direction.

The seating grip part 42 may be coupled to the seating buffer part 41 and grip the structure 100 . For example, the seated gripper 42 may be coupled to an end of the seated buffer 41 and grip the structure 100 by self-driving.

4 is a view schematically showing a seated gripper according to an embodiment of the present invention, and FIG. 5 is a diagram schematically showing an operating state of the seated gripper according to an embodiment of the present invention. 4 and 5 , the seating and gripping part 42 according to an embodiment of the present invention includes a gripping housing part 51 , a gripping joint part 52 , and a gripping driving part 53 .

The gripping housing unit 51 is coupled to the seating buffer unit 41 . For example, the gripping housing unit 51 may have a case shape with an empty interior, and a seating buffer unit 41 may be coupled to the upper end thereof.

The grip joint part 52 is mounted on the grip housing part 51 . For example, a plurality of gripping joint parts 51 are disposed on the edge of the gripping housing part 51 , and the structure 100 may be inserted between these gripping joint parts 52 .

The grip driving part 53 operates the grip joint part 52 . For example, when the gripping joint part 52 is bent inward by the gripping driving part 53 , the structure 100 inserted into the gripping joint part 52 may be gripped.

The gripping joint part 52 according to an embodiment of the present invention includes an upper joint part 60 , a connecting joint part 70 , and a lower joint part 80 . The upper joint portion 60, the upper joint portion 60, and the connecting joint portion 70 are arranged in series, have a bent shape by an external force, and can be unfolded by a restoring force when the external force is removed.

The upper joint part 60 is mounted on the grip housing part 51 . For example, the upper joint part 60 may be assembled to the gripping housing part 51 , and may be integrally formed with the gripping housing part 51 if necessary.

The connection joint part 70 is connected to the upper joint part 60 and is rotatable, and the length is variable. One or more of these connection joint portions 70 are connected in series, so that the structure 100 having various shapes can be stably gripped by being bent while adjusting its own length.

The lower joint part 80 is connected to the connection joint part 70 , and is coupled to the grip driving part 53 . For example, the lower joint part 80 is located at the lowermost end of the grip joint part 52 , and may be bent while ascending by the tension of the grip driving part 53 .

The upper joint part 60 according to an embodiment of the present invention includes an upper housing part 61 , an upper cylinder part 62 , an upper connector part 63 , and an upper elastic part 64 .

The upper housing part 61 is coupled to the gripping housing part 51 . For example, the upper housing unit 61 may be mounted on a side surface of the holding housing unit 51 and may be pin-coupled or link-coupled to be rotatable as needed.

The upper cylinder part 62 is disposed below the upper housing part 61 . For example, the upper housing part 61 and the upper cylinder part 62 may be spaced apart from each other and designed to have the same length or different lengths.

The upper connector part 63 connects the upper housing part 61 and the upper cylinder part 62 , and is movable in the longitudinal direction of the upper housing part 61 and the upper cylinder part 62 . For example, the upper end portion 631 of the upper connector unit 63 is inserted into the upper housing unit 61 to be movable, and the lower end portion 632 of the upper connector unit 63 is inside the upper cylinder unit 62 . It is inserted into and can be moved. In addition, the connection part 633 of the upper connector part 63 connecting the upper end part 631 of the upper connector part 63 and the lower end part 632 of the upper connector part 63 is the upper housing part 61 and the upper cylinder part. through (62). At this time, a bearing may be formed at the contact point of the upper connector part 63 to suppress movement friction.

The upper elastic part 64 is built into the upper housing part 61 and elastically supports the upper connector part 63 . For example, the upper elastic part 64 supports the upper end portion 631 of the upper connector part 63, and contracts when the upper connector part 63 rises. When the external force is removed, a restoring force is applied to the upper connector part 63. can provide

In the above structure, when the upper cylinder part 62 rises by an external force, the upper connector part 63 in contact with the upper cylinder part 62 moves upward to contract the upper elastic part 64 . Due to this, the length of the upper joint portion 60 itself is reduced, and when the external force is removed, the length of the upper joint portion 60 may be increased by the restoring force of the upper elastic portion 64 . At this time, the upper elastic part 64 may be built in the upper cylinder part 62 in addition to the upper housing part 61 to elastically support the upper connector part 63 additionally.

The connection joint part 70 according to an embodiment of the present invention includes a connection housing part 71 , a connection cylinder part 72 , a connection connector part 73 , and a connection elastic part 74 .

The connection housing part 71 is rotatably coupled to the upper joint part 60 . For example, the connection housing part 71 may be rotatably pin-coupled or link-coupled with the upper cylinder part 62 .

The connection cylinder part 72 is disposed below the connection housing part 71 . For example, the connection housing part 71 and the connection cylinder part 72 may be spaced apart from each other, and may be designed to have the same length or different lengths.

The connection connector part 73 connects the connection housing part 71 and the connection cylinder part 72 , and is movable in the longitudinal direction of the connection housing part 71 and the connection cylinder part 72 . For example, the upper end 731 of the connecting connector unit 73 is inserted into the connecting housing unit 71 to be movable, and the lower end 732 of the connecting connector unit 73 is inside the connecting cylinder unit 72 . It is inserted into and can be moved. And, the connecting portion 733 of the connecting connector unit 73 connecting the upper end 731 of the connecting connector unit 73 and the lower end 732 of the connecting connector unit 73 is a connecting housing unit 71 and a connecting cylinder unit. through (72). At this time, a bearing may be formed at the contact point of the connecting connector part 73 to suppress movement friction.

The connection elastic part 74 is built in the connection housing part 71 and elastically supports the connection connector part 73 . For example, the connection elastic part 74 supports the upper end 731 of the connection connector part 73, and contracts when the connection connector part 73 rises, and when the external force is removed, a restoring force is applied to the connection connector part 73. can provide

On the other hand, a plurality of connection joint portions 70 may be arranged in series. That is, when the connection joint portion 70 has a three-stage series structure, the connection joint portion 70 disposed at the uppermost end is rotatably coupled to the upper cylinder portion 62 of the upper joint portion 60, and the connection disposed below the uppermost end. The joint portion 70 may be rotatably coupled to the connection cylinder portion 72 of the connection joint portion 70 disposed above each.

In the above structure, when the connecting cylinder portion 72 rises by an external force, the connecting connector portion 73 in contact with the connecting cylinder portion 72 moves upward to contract the connecting elastic portion 74 . Due to this, the length of the connection joint part 70 itself is reduced, and when the external force is removed, the length of the connection joint part 70 may be increased by the restoring force of the connection elastic part 74 . At this time, the connection elastic part 74 may be built in the connection cylinder part 72 in addition to the connection housing part 71 to elastically support the connection connector part 73 additionally.

The lower joint part 80 according to an embodiment of the present invention includes a lower housing part 81 , a lower cylinder part 82 , a lower connector part 83 , and a lower elastic part 84 .

The lower housing part 81 is rotatably coupled to the connection joint part 70 . For example, the lower housing part 81 may be rotatably pin-coupled or link-coupled with the connecting cylinder part 72 .

The lower cylinder part 82 is disposed below the lower housing part 81 , and is connected to the grip driving part 53 . For example, the lower housing part 81 and the lower cylinder part 82 may be spaced apart from each other and designed to have the same length or different lengths. The inner side of the lower cylinder part 82 may be connected to the grip driving part 53 .

The lower connector part 83 connects the lower housing part 81 and the lower cylinder part 82 , and is movable in the longitudinal direction of the lower housing part 81 and the lower cylinder part 82 . For example, the upper end 831 of the lower connector unit 83 is inserted into the lower housing unit 81 and movable, and the lower end portion 832 of the lower connector unit 83 is inside the lower cylinder unit 82 . It is inserted into and can be moved. In addition, the connection part 833 of the lower connector part 83 connecting the upper end 831 of the lower connector part 83 and the lower end 832 of the lower connector part 83 is the lower housing part 81 and the lower cylinder part. through (82). At this time, a bearing may be formed at the contact point of the lower connector part 83 to suppress movement friction.

The lower elastic part 84 is embedded in the lower housing part 81 and elastically supports the lower connector part 83 . For example, the lower elastic part 84 supports the upper end 831 of the lower connector part 83, and contracts when the lower connector part 83 rises. When the external force is removed, a restoring force is applied to the lower connector part 83. can provide

In the above structure, when the lower cylinder part 82 rises by an external force, the lower connector part 83 in contact with the lower cylinder part 82 moves upward to contract the lower elastic part 84 . As a result, the length of the lower joint portion 80 itself is reduced, and when the external force is removed, the length of the lower joint portion 80 may be increased by the restoring force of the lower elastic portion 84 . In this case, the lower elastic part 84 may be embedded in the lower cylinder part 82 in addition to the lower housing part 81 to elastically support the lower connector part 83 in addition.

The grip driving unit 53 according to an embodiment of the present invention includes a driving motor unit 531 , a driving rotation unit 532 , and a driving wire unit 533 .

The driving motor unit 531 is mounted on the holding housing unit 51 . For example, the driving motor unit 531 may be mounted inside the holding housing unit 51 , and power may be applied through an auxiliary battery provided in the holding housing unit 51 .

The driving rotation unit 532 is rotatable by the driving motor unit 531 . For example, the driving rotating unit 532 may be rotatably mounted to the holding housing unit 51 , and may be connected to the driving motor unit 531 to receive power.

The driving wire unit 533 is wound or unwound on the driving rotating unit 532 as the driving rotating unit 532 rotates, and is connected to the gripping joint unit 52 . For example, one end of the plurality of driving wire units 533 may be coupled to the driving rotating unit 532 , and the other end may be connected to each lower cylinder unit 82 . The drive wire part 533 is connected to the lower end of the lower cylinder part 82 , and when the drive wire part 533 is wound around the driving rotation part 532 , the connection joint part 70 and the lower joint part 80 are bent and the structure 100 ) can be grasped. On the other hand, a ring for guiding the driving wire portion 533 may be formed in the connection housing portion 71 and the connection cylinder portion 72 .

The seated gripper 42 according to an embodiment of the present invention may further include a gripping attachment portion 54 . The grip attachment part 54 is formed in the grip joint part 52 and can be in close contact with the structure 100 . For example, the gripping attachment part 54 includes an upper housing part 61, an upper cylinder part 62, a connection housing part 71, a connection cylinder part 72, a lower housing part 81, It may be a biomimetic suction pad that is coupled to the inner side of the lower cylinder part 82 and is in direct contact with the structure 100 to add support by suction force. In addition, the gripping attachment part 54 may be a magnet attachable to the metal structure 100 , or may be made of a rubber material capable of preventing slip when in contact with the structure 100 .

The operation of the take-off and landing device for a drone according to an embodiment of the present invention having the above structure will be described as follows.

The length of the control cable part 32 is increased by the driving of the control rotation unit 31 so that the seating part 40 mounted on the end of the control cable unit 32 approaches the structure 100 . At this time, when the structure 100 is inserted between the gripping joints 52 , it is sensed through a camera provided in the body 10 or a sensor provided in the gripping joints 52 , and the gripping drive 53 is driven to grip The joint 52 grips the structure 100 .

When the gripping joint part 52 is coupled to the structure 100 , the length of the control cable part 32 is reduced by the driving of the control rotation part 31 so that the body part 10 approaches the structure 100 . At this time, when the adjustment sensing unit 33 measures the load of the adjustment cable unit 32 , the flight unit 20 is controlled to enable stable take-off and landing of the body unit 10 based on this sensing signal.

In the take-off and landing apparatus 1 for a drone according to an embodiment of the present invention, when the seating part 40 is coupled to the structure 100 , the length of the adjusting part 30 is reduced so that the body part 10 approaches the structure 100 . By inducing the drone to do so, stable take-off and landing may be possible even in the structure 100 having various shapes such as a pylon or a slope.

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely exemplary, and it is understood that various modifications and equivalent other embodiments are possible by those of ordinary skill in the art. will understand Accordingly, the true technical protection scope of the present invention should be defined by the following claims.

10: body part 20: flight part
30: adjusting unit 31: adjusting rotating unit
32: control cable unit 33: control sensing unit
40: seating part 41: seating buffer part
42: seating grip part 51: grip housing part
52: grip joint part 53: grip drive part
54: grip attachment part 60: upper joint part
70: connection joint part 80: lower joint part
100: structure

Claims (12)

body part;
a flight unit mounted on the body portion and guiding the flight of the body portion;
a control unit mounted on the body portion; and
The take-off and landing device for a drone comprising a; a seating part that is mounted on the adjusting part and capable of gripping the structure.
The method of claim 1, wherein the adjusting unit
a control rotating part mounted to be rotatably mounted on the body part; and
The take-off and landing device for a drone comprising a; a control cable part wound or unwound on the control rotating part and connected to the seating part.
The method of claim 2, wherein the adjusting unit
The take-off and landing device for drones, characterized in that it further comprises; an adjustment sensing unit for measuring the load of the control cable unit.
According to claim 1, wherein the seating portion
a seating buffer unit connected to the adjustment unit and cushioning the impact; and
The take-off and landing device for a drone comprising a; a landing gripper coupled to the landing buffer and capable of gripping the structure.
5. The method of claim 4, wherein the seating grip portion
a gripping housing coupled to the seating buffer;
a gripping joint part mounted on the gripping housing; and
A take-off and landing device for a drone comprising a; a grip driving part for manipulating the grip joint part.
According to claim 5, wherein the grip joint portion
an upper joint part mounted to the gripping housing part;
a connection joint part connected to the upper joint part and rotatable, the length of which is variable; and
The take-off and landing device for a drone comprising a; a lower joint part connected to the connection joint part and coupled to the grip driving part.
The method of claim 6, wherein the upper joint portion
an upper housing portion coupled to the gripping housing portion;
an upper cylinder part disposed below the upper housing part;
an upper connector part connecting the upper housing part and the upper cylinder part and movable in the longitudinal direction of the upper housing part and the upper cylinder part; and
The take-off and landing device for a drone comprising a; an upper elastic part embedded in the upper housing part and elastically supporting the upper connector part.
The method of claim 6, wherein the connection joint portion
a connection housing portion rotatably coupled to the upper joint portion;
a connection cylinder part disposed below the connection housing part;
a connection connector part connecting the connection housing part and the connection cylinder part and movable in the longitudinal direction of the connection housing part and the connection cylinder part; and
The take-off and landing device for a drone comprising a; a connection elastic part embedded in the connection housing part and elastically supporting the connection connector part.
9. The method of claim 8,
A takeoff and landing device for a drone, characterized in that a plurality of connection joint parts are arranged in series.
The method of claim 6, wherein the lower joint portion
a lower housing portion rotatably coupled to the connection joint portion;
a lower cylinder part disposed below the lower housing part and connected to the grip driving part;
a lower connector part connecting the lower housing part and the lower cylinder part and movable in the longitudinal direction of the lower housing part and the lower cylinder part; and
The take-off and landing device for a drone comprising a; a lower elastic part embedded in the lower housing part and elastically supporting the lower connector part.
The method of claim 5, wherein the grip driving unit
a driving motor unit mounted on the holding housing unit;
a driving rotation unit rotatable by the driving motor unit; and
and a drive wire part wound or unwound by the driving rotation part as the driving rotation part rotates, and connected to the gripping joint part.
5. The method of claim 4, wherein the seating grip portion
The take-off and landing device for a drone, characterized in that it further comprises a; is formed in the grip joint portion, and can be attached to the structure.

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