WO2023003099A1 - Apparatus for drone for controlling recoil from grenade launch - Google Patents

Apparatus for drone for controlling recoil from grenade launch Download PDF

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Publication number
WO2023003099A1
WO2023003099A1 PCT/KR2021/017688 KR2021017688W WO2023003099A1 WO 2023003099 A1 WO2023003099 A1 WO 2023003099A1 KR 2021017688 W KR2021017688 W KR 2021017688W WO 2023003099 A1 WO2023003099 A1 WO 2023003099A1
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WO
WIPO (PCT)
Prior art keywords
rotation
control device
repulsion
drone
launch
Prior art date
Application number
PCT/KR2021/017688
Other languages
French (fr)
Korean (ko)
Inventor
정승호
정승현
Original Assignee
주식회사 아르고스다인
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 주식회사 아르고스다인 filed Critical 주식회사 아르고스다인
Publication of WO2023003099A1 publication Critical patent/WO2023003099A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D7/00—Arrangements of military equipment, e.g. armaments, armament accessories, or military shielding, in aircraft; Adaptations of armament mountings for aircraft
    • B64D7/02—Arrangements of military equipment, e.g. armaments, armament accessories, or military shielding, in aircraft; Adaptations of armament mountings for aircraft the armaments being firearms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A25/00—Gun mountings permitting recoil or return to battery, e.g. gun cradles; Barrel buffers or brakes
    • F41A25/06—Friction-operated systems
    • F41A25/08—Friction-operated systems adjustable
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A25/00—Gun mountings permitting recoil or return to battery, e.g. gun cradles; Barrel buffers or brakes
    • F41A25/16—Hybrid systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41C—SMALLARMS, e.g. PISTOLS, RIFLES; ACCESSORIES THEREFOR
    • F41C27/00—Accessories; Details or attachments not otherwise provided for
    • F41C27/06—Adaptations of smallarms for firing grenades, e.g. rifle grenades, or for firing riot-control ammunition; Barrel attachments therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B8/00—Practice or training ammunition
    • F42B8/12—Projectiles or missiles
    • F42B8/18—Rifle grenades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

Definitions

  • the present invention relates to a grenade firing repulsion control device of a drone, and more particularly, by providing a repelling force control means for reducing the repulsive force generated when a grenade is fired on a gimbal installed in a drone, thereby maximizing the firing accuracy of the grenade. It relates to a grenade firing repulsion control device for a drone with a drone.
  • drones have been developed for military purposes that perform missions such as aerial photography or aerial strikes through manual flight by remote control of a ground control system or autonomous flight using a global positioning system (GPS).
  • GPS global positioning system
  • various types of drones are being developed that can be deployed in areas inaccessible to humans, such as jungles, remote areas, volcanic areas, natural disaster areas, and nuclear power plant accident areas.
  • a grenade launcher is configured to be connected to a gimbal in order to control a firing angle of a weapon having a high recoil force such as a grenade.
  • a drone equipped with a grenade launcher is manufactured so that a soldier can remotely control an offensive weapon from a concealed location, and it is used by frontline soldiers confronting the enemy.
  • a camera sensor that self-destructs toward a target that can be used as a platoon-level attack weapon, a drone equipped with explosives, a remote control device, and a corresponding weapon system have been published.
  • Korean Patent Registration No. 10-2213467 discloses a drone provided capable of flying according to control and having a body and an arm extending a set length from the body toward the outside; A frame part detachably provided to the drone, capable of mounting a gun, positioned above the gun launch device so that the gun can be fired, and detachably provided at the bottom of the drone; a front support portion connected to the frame portion to be located in the front area of the device and supporting the front area of the firearm; A gun firing device including a rear support for supporting the; And a drone system including a controller has been published.
  • the position of the axis of the gimbal is changed due to the shock generated when the grenade is fired, or the center of the axis is twisted, resulting in a change in the position of the launcher barrel configured in the grenade launcher.
  • An object of the present invention is to provide a grenade firing repulsion control device of a drone that can be used.
  • the present invention controls whether the angle adjustment shaft for adjusting the launch angle of the grenade launcher is rotated, and after the angle adjustment is completed, the angle adjustment shaft is prevented from being arbitrarily rotated, so that the grenade launcher can be fired more precisely.
  • An object of the present invention is to provide a grenade launch repulsion control device for a drone capable of maintaining a constant firing angle even when grenades are continuously fired.
  • the object of the present invention is not limited thereto, and even if not explicitly mentioned, the purpose or effect that can be grasped from the solution or embodiment of the problem is also included therein, of course.
  • the launch housing a first rotation driving unit coupled to the drone and adjusting a grenade firing angle with respect to the X-axis direction; a support frame to which the firing housing is rotatably connected to inner surfaces of both sides and to which the first rotation driving unit is mounted; a second rotation driving unit coupled to a side portion of the support frame and adjusting a launch angle of the grenade with respect to the Y-axis direction of the launch housing; a rotation guide frame connecting the support frame and the launch housing and guiding rotation of the launch housing; and an upper repulsion control device connected to the first rotation driving unit to control a rotation operation, and a side repulsion control unit coupled to a side of the rotation guide frame and controlling a rotation operation of the second rotation driving unit.
  • the upper repulsion control device and the side repulsion control device are coupled by magnetic force under the control of the control unit of the drone, respectively, and suppress the rotational operation of the first and second rotation driving units to reduce the repelling force of the launch housing.
  • Launch repulsion control. device and is configured to include.
  • the firing repulsion control device includes a control support member coupled to the rotation guide frame and configured to slide in an axial direction and rotate in an up and down direction; a drive guide supporting rotation of the control support member; a driving magnetization means connected to the control support member and having a first magnetic body configured to engage and disengage by magnetic force; a stationary magnetization means having a second magnetic body through which the control support member passes and dissipating a predetermined magnetic force toward the driving magnetization means according to the control of the control unit; and a rotation preventing means for preventing rotation by a repulsive force by fixing the driving magnetization means and the stationary magnetization means.
  • control support member is coupled to a control shaft coupled to the driving magnetization means and configured to perform a sliding movement depending on whether magnetic force is coupled, and is coupled to an end of the control shaft, and the rotation guide It consists of a rotation guide plate inserted into the frame to position the position between the control shaft and the second rotation drive unit on a coaxial line.
  • the rotation preventing means includes a first rotation preventing means configured at regular intervals on the circumferential surface of the outer surface of the driving magnetization means connected to the control shaft, and the circumferential surface of the inner surface of the stationary magnetizing means. It is composed of a second rotation preventing means configured along, and is configured to be coupled in a gear coupling method.
  • an elastic body providing a predetermined elastic force between the driving magnetization means and the stationary magnetization means, a separation prevention bracket preventing separation of the elastic body, and an elastic body so that both ends of the elastic body can be fixed.
  • Accommodating grooves and elastic body insertion grooves are formed, respectively.
  • control shaft is configured to surround an extension control shaft extending from an end portion and the extension control shaft, and is coupled with the drive magnetizing means to perform a rotational operation along an outer circumferential surface of the extension control shaft.
  • a sub control shaft configured to be made;
  • Rotation control means configured to maintain a state coupled with the drive magnetization means, and rotated to the outer circumferential surface of the end so that the rotation operation can be performed under the control of the control unit;
  • sensor module configured in each of the driving magnetization unit and the stationary magnetization unit and receiving and transmitting the location information of the first rotation prevention unit to the control unit; and a control shaft rotation bracket coupled to an end of the extension control shaft and connecting the extension control shaft to a rotation guide plate.
  • the sensor module is coupled to the driving magnetization means, and is configured below the transmission module for transmitting the position information of the first rotation prevention means and the second rotation prevention means, It is composed of a receiving module that receives the location information transmitted from the sending module and transmits it to the control unit.
  • the support frame may include: an upper fixing frame having a fixing guide plate and a fixing bar configured at each corner portion to connect the first rotation driving unit and the upper repulsion control device and to be connected to the drone; an upper support frame on which the upper repulsion control device is mounted, and which supports driving of the upper repulsion control device; And a rotational support frame for supporting the side repulsion control device and the second rotation driving unit to be rotatably coupled to the one side and the other side, respectively, at positions facing each other, and a support block coupling the rotation support frame to the upper support frame. and a side support frame to which the rotation guide frame is connected.
  • the rotation guide frame a connection bracket connecting the launch housing and the side support frame; a connection block inserted into the connection bracket and minimizing transmission of impact generated when a grenade is fired to the side frame; and an operation support groove formed in the connection block and configured to support the axial movement and up/down rotation operation of the side repulsion control device.
  • a repelling force control means for reducing a repulsive force generated when a grenade is fired is provided on a gimbal installed in a drone, so that the firing accuracy of the grenade can be maximized.
  • the grenade launcher by controlling whether or not the angle adjustment shaft for adjusting the firing angle of the grenade launcher is rotated and preventing the angle adjustment shaft from being rotated arbitrarily after the angle adjustment is completed, the grenade launcher is more In addition to enabling precise firing, there is an effect of maintaining a constant firing angle even when grenades are continuously fired.
  • FIG. 1 and 2 are perspective views showing a grenade firing repulsion control device for a drone according to an embodiment of the present invention
  • FIG. 3 is a front view showing a grenade launch repulsion control device for a drone according to an embodiment of the present invention
  • FIG. 4 is a cross-sectional view showing a grenade firing repulsion control device according to an embodiment of the present invention
  • 5 and 6 are other embodiments illustrating a device for controlling grenade firing repulsion according to an embodiment of the present invention.
  • the grenade launch repulsion control device of the drone of the present invention includes a grenade launcher and a launch repulsion control device 200 coupled to the grenade launcher and reducing the repelling force generated when the grenade is fired. .
  • the grenade launcher includes a support frame composed of an upper fixed frame 110, an upper support frame 130 and a side support frame 140, a first rotation driving unit 120, a second rotation driving unit 150, a rotating means ( 160), a launch housing 170, and a power supply unit 180.
  • the upper fixed frame 110 mounts the grenade launcher on the lower surface of the drone, and the first rotation driving unit 120 can be rotatably coupled to the upper center of the upper fixed frame 110.
  • the first rotation driving unit 120 may be connected to a rotation motor configured in the lower part of the drone.
  • the first rotation driving unit 120 is mounted in the upper center, and is coupled with the upper repulsion control device 202 (described later) of the firing repulsion control unit 200 on a coaxial line with the first rotation driving unit 120. support so that
  • the upper fixed frame 110 is fixedly coupled to the fixed guide plate 112 coupled to each corner and to the upper portion of the fixed guide plate 112, and the fixed bar 114 connecting the upper fixed frame 110 to the lower part of the drone. ) is composed of
  • the fixing bar 114 may be formed to penetrate in a direction orthogonal to the axial direction, and a connection device such as a connection arm may be coupled to facilitate coupling or separation with the drone.
  • the first rotation drive unit 120 is rotatably coupled to the upper fixed frame 110 and connected to the rotation motor of the drone so that the rotational operation of the grenade launcher is performed in the rotation direction of the rotation motor, that is, in the X-axis direction. It is a component that
  • the first rotation driving unit 120 is connected to the upper repulsion control device 202 formed under the upper fixed frame 110, and after the setting of the firing angle in the X-axis direction of the grenade launcher is completed, the grenade is fired. It is configured to prevent the set X-axis launch angle from changing due to the generated repulsive force.
  • the first rotation driving unit 120 transmits a setting completion signal to the control unit of the drone after setting the launch angle of the grenade launcher in the X-axis direction, and the control unit of the drone uses the upper repulsion control unit 202 It may be configured to prevent the first rotation drive unit 120 from being arbitrarily rotated by controlling the driving of the.
  • the upper support frame 130 is configured so that the upper repulsion control device 202 is mounted, and the side support frame 140 is coupled to both ends.
  • the side support frame 140 is vertically coupled to both ends of the upper support frame 130, and supports so that the launch angle of the launch housing 170 for launching a grenade in the Y-axis direction can be adjusted. It is a component that supports the firing housing 170 to stably maintain the firing angle of the firing housing 170 in the Y-axis direction by reducing the repulsive force generated when the grenade is fired through the housing 170.
  • the side support frame 140 is configured to include a rotation support frame 142 and a supporting block 144.
  • the rotating support frame 142 may be composed of a plurality of panels, and may be provided as a pair so as to be fixedly coupled to one side and the other side of the upper support frame 130, respectively.
  • the rotational support frame 142 may support the side repulsion control device 204 of the firing repulsion control device 200 and the second rotation driving unit 150 so as to be rotatably coupled to positions facing each other.
  • the side repulsion control device 204 is rotatably coupled to one side of the upper support frame 130
  • the second rotation driving unit 150 is rotatably coupled to the other side of the upper support frame 130. It will be.
  • the support block 144 is horizontally coupled to the rotational support frame 142 and is configured to couple a plurality of panels spaced apart from each other. At the same time, the support block 144 couples the rotation support frame 142 to the upper support frame 130.
  • the rotation support frame 142 is configured with a coupling hole through which the side repulsion control device 204 and the second rotation driving unit 150 can be coupled to each other at the lower center.
  • the support block 144 may be coupled to the upper end and the middle portion of the rotation support frame 142 so as to achieve orthogonality with the rotation support frame 142 .
  • the central portion of the supporting block 144 may be formed to pass through so that power and communication cables may pass through so that data transmission and reception is possible with the control unit of the drone.
  • the second rotation driving unit 150 is connected to the rotation means 160 coupled to the side support frame 140 formed on the other side of the upper support frame 130, and fires in the Y-axis direction of the launch housing 170. It is configured to adjust the angle.
  • the rotation means 160 is configured to be rotated by a certain angle according to the control of the control unit in conjunction with the control unit of the drone.
  • the rotation guide frame ( 150a) may be further configured.
  • the rotation guide frame 150a is fixedly coupled to both sides of the front portion of the launch housing 170 and connects the launch housing 170 and the side support frame 140 to each other. It is inserted inside and includes a connection block 154 that minimizes the transmission of impact generated when a grenade is fired to the side support frame 140.
  • control support member 210 configured in the side repulsion control device 204 to be described later is located at the same center as the axis center of the second rotation drive unit 150 and the rotation means 160. It is configured to be inserted, and an operation support groove 156 is formed to support the control support member 210 to move in an axial direction and rotate upward and downward.
  • the launch housing 170 is configured to launch a grenade under the control of a drone control unit, and is formed in the center of the front side, and includes a rebound reducing unit 172 that reduces a repulsive force generated when a grenade is launched, and a rebound reducing unit ( 172) and includes a grenade launcher 174 that fires a grenade under the control of a control unit of a drone.
  • the power supply unit 180 is configured to store and charge a predetermined power for driving the rotation unit 160 and the firing repulsion control device 200, and interlocks with the control unit of the drone to operate the rotation unit 160. and a component that supplies a certain amount of power to the firing repulsion control device 200.
  • the launch repulsion control device 200 is configured to include an upper repulsion control device 202 and a side repulsion control device 204.
  • the upper repulsion control device 202 is coupled to the upper support frame 130 and is connected to the first rotation driving unit 120 to control the rotational operation of the first rotation driving unit 120 .
  • the side repulsion control device 204 is coupled to the side support frame 140, is configured in the rotation guide frame 150a so that the second rotation drive unit 150 and the rotation means 160 are connected, and the second rotation drive unit 150 rotation operation can be controlled.
  • the upper repulsion control device 202 and the side repulsion control device 204 may be configured to have the same shape, and may be configured to be driven according to the control of the control unit of the drone in conjunction with the control unit of the drone.
  • the firing repulsion control device 200 includes a control support member 210, a driving guide 220, a driving magnetization means 230, a fixed magnetization means 240, a magnetic body 250, and a rotation prevention means 260. It consists of
  • the control support member 210 is coupled to the rotation guide frame 150a and is configured to slide in an axial direction and rotate in an up and down direction.
  • the drive guide 220 supports the rotational operation of the control support member 210 .
  • the drive magnetization means 230 is configured to slide in the axial direction of the control support member 210 so that the control support member 210 penetrates and engages and disengages by magnetic force.
  • the fixed magnetization means 240 passes through the control support member 210 and is coupled to the side support frame 140 to radiate a predetermined magnetic force toward the drive magnetization means 230 under the control of the control unit of the drone.
  • the magnetic body 250 is configured in the drive magnetization means 230 and the stationary magnetization means 240, respectively.
  • the rotation preventing means 260 fixes the driving magnetization means 230 and the fixed magnetization means 240 to rotate by the repelling force. It is a configuration that prevents this from happening.
  • the control support member 210 is composed of a control shaft 212 and a rotation guide plate 214.
  • the control shaft 212 passes through the side support frame 140, the drive guide 220, and the drive and stationary magnetization means 230 and 240. Also, the drive magnetization means 230 is coupled to the control shaft 212 and is configured to perform sliding movement depending on whether magnetic force is coupled.
  • the rotation guide plate 214 is coupled to the end of the control shaft 212 and is inserted into the operation support groove 156 of the rotation guide frame 150a to allow the control shaft 212, the second rotation drive unit 150 and the rotation means (160) is configured so that the position between them is located on the coaxial line.
  • the rotation guide plate 214 is configured to move together with the sliding movement of the drive magnetizing means 230, and the movement range is configured to correspond to the depth of the operating support groove 156.
  • the drive guide 220 may be formed of a normal bearing housing, and is configured at both ends of the control shaft 212 to support the up and down rotational operation of the control shaft 212 when adjusting the launch angle of the launch housing 170. play a role
  • the driving magnetization unit 230 is coupled to the control shaft 212 and is configured to slide together with the control shaft 212 according to the magnetization state of the stationary magnetization unit 240 . Also, the driving magnetization unit 230 may be combined with the stationary magnetization unit 240 according to the magnetization state of the stationary magnetization unit 240 to suppress the rotational operation of the launch housing 170 . The driving magnetization unit 230 may be disengaged from the stationary magnetization unit 240 in reverse according to the magnetization state of the stationary magnetization unit 240, thereby enabling the rotational operation of the launch housing 170.
  • the drive magnetization means 230 is a component that selectively suppresses the rotational operation of the launch housing 170 to prevent the firing angle in the Y-axis direction from being varied due to the repulsive force.
  • the drive magnetization means 230 is configured to include a first magnetic body 252 and a first rotation preventing means 262 .
  • the first magnetic material 252 is provided in a form embedded inside the driving magnetization means 230 .
  • the first anti-rotation means 262 maximizes the anti-rotation force for the launch housing 170 when the first magnetic material 252 is formed at equal intervals along the outer circumferential surface and coupled with the fixed magnetization means 240. It is a configuration to
  • the first rotation preventing means 262 may be configured at each branching point of the driving magnetization means 230, but is not limited thereto.
  • the driving magnetization means 230 configured as described above may further include a shaft connecting portion 232 supporting the coupling with the control shaft 212 .
  • a plurality of through holes 232a and key insertion grooves 232b are formed in the shaft connecting portion 232.
  • the plurality of through holes 232a are configured to be spaced apart at predetermined intervals along the circumferential surface, and fixing pins may be inserted therein.
  • a fixed key may be inserted into the key insertion groove 232b to prevent single rotation of the control shaft 212 or the driving magnetization means 230 .
  • the fixed magnetization means 240 is coupled to the side support frame 140 and is connected to a cable member accommodated by the support block 144 and operates under the control of the controller of the drone.
  • the stationary magnetization means 240 is configured to be coupled to the driving magnetization means 230 by magnetic force or separated by pushing the driving magnetization means 230.
  • the fixed magnetization means 240 is configured with a coupling flange 270 that supports to be fixedly coupled with the side support frame 140 at one end.
  • the stationary magnetization means 240 is configured to include a second magnetic body 254 and a second anti-rotation means 264 .
  • the second magnetic body 254 is provided in a form embedded inside the stationary magnetization means 240 .
  • the second anti-rotation means 264 is configured at equal intervals along the outer circumferential surface to maximize the rotation restraining force of the launch housing 170 when coupled with the driving magnetization means 230.
  • the magnetic body 250 is composed of first and second magnetic bodies 252 and 254 .
  • the first magnetic body 252 is built into the driving magnetization unit 230 and is composed of an electromagnet selectively magnetized under the control of a controller of the drone.
  • the first magnetic body 252 is selectively magnetized, and the firing housing 170 rotates by a predetermined angle based on the center of the axis of the control shaft 212 and the second rotation drive unit 150 by the repelling force generated when the grenade is fired. serves to prevent this from happening.
  • the second magnetic body 254 is embedded inside the stationary magnetizing means 240, and is coupled or separated from the first magnetic body 252 by magnetic force depending on whether the first magnetic body 252 is magnetized. It is configured to separate the driving magnetization means 230 from the stationary magnetization means 240.
  • the rotation preventing means 260 is composed of a conventional gear structure, and is configured to include a first rotation preventing means 262 and a second rotation preventing means 264.
  • the first rotation preventing means 262 is formed at regular intervals on the circumferential surface of the outer surface of the driving magnetization means 230 .
  • the second anti-rotation means 264 is formed along the inner circumferential surface of the stationary magnetization means 240 .
  • the first rotation prevention means 262 is coupled to the second rotation prevention means 264 in a gear coupling manner. let it Through this combination, the anti-rotation means 260 maximizes the function of preventing the firing housing 170 from arbitrarily rotating due to the repulsive force generated when the grenade is fired.
  • the firing repulsion control device 200 of the present invention configured as described above can guide the driving magnetization means 230 to be separated from the stationary magnetization means 240 more quickly.
  • the firing repulsion control device 200 minimizes the collision with the surrounding components, that is, the side support frame 140 and the driving guide 220, when the driving magnetization means 230 is separated, so that the driving magnetization means 230 It may also be configured to prevent breakage from occurring.
  • an elastic body 280 providing a predetermined elastic force may be disposed between the driving magnetization means 220 and the stationary magnetization means 240 .
  • elastic body accommodating grooves and elastic body insertion grooves 234 and 244 may be respectively formed so that both ends of the elastic body 280 may be fixed to the driving magnetization unit 220 and the stationary magnetization unit 240 .
  • separation prevention brackets 282 may be further configured in the elastic body receiving groove and the elastic body insertion grooves 234 and 244 to prevent the elastic body 280 from being arbitrarily separated, but the present invention is not limited thereto.
  • the firing repulsion control device 200 of the present invention guides the gear teeth of the first and second rotation preventing means 262 and 264 to be interlaced with each other so that they are engaged by matching. .
  • the first and second rotation prevention means 262, 264 Position where the gear teeth of the first and second anti-rotation means 262, 264 are crossed with each other while the control shaft 212 operates in one direction to rotate in order to prevent the anti-rotation function from deteriorating while damage occurs due to collision with each other may be configured to achieve
  • an extended control shaft 212a extending from the end of the control shaft 212 is further configured, and configured to surround the extended control shaft 212a, and the outer circumferential surface is driven by magnetization.
  • a sub control shaft 320 coupled to the shaft connecting portion 232 of the means 230 and configured to perform a one-way rotational operation along the outer circumferential surface of the extension control shaft 212a may be further configured.
  • the sub control shaft 320 may be configured to maintain a coupled state with the shaft connection unit 232 .
  • the rotation control means rotation control means (not shown) may be further configured.
  • the rotation control means may be composed of power transmission means such as gears, sprockets, belts, etc., and may further include a drive motor for driving the power transmission means.
  • extension control shaft 212a passing through the inside is coupled to the sub control unit 320, and a control shaft rotation bracket 330 connecting the extension control shaft 212a to the rotation guide plate 214 is further configured this is preferable
  • the sensor module 310 may be configured to include a sending module 312 and a receiving module 314.
  • the transmitting module 312 and the receiving module 314 are respectively configured in the driving magnetization means 230 and the fixed magnetization means 240 so as to be positioned below the rotation preventing means 260, and disposed at opposite positions. configured so that it can be
  • the transmitting module 312 is configured under the first rotation preventing means 262 of the driving magnetization means 230 and is configured to transmit the position information of the first rotation preventing means 262 .
  • the receiving module 314 is configured under the second rotation preventing means 264 of the fixed magnetization means 240, and is configured in a ring shape to correspond to the shape of the second rotation preventing means 264, and the transmitting module It may be configured to receive location information transmitted from 312 and transmit it to the control unit of the drone.
  • the control unit of the drone may analyze the location information transmitted from the receiving module 314 to determine the positions of the gear teeth of the first rotation preventing means 262 and the second rotation preventing means 264 .
  • the control unit of the drone rotates the sub control shaft 320 so that the gear teeth of the first rotation preventing means 262 and the second rotation preventing means 264 form a form in which the gear teeth are staggered from the grasped location information. It is configured so that control of the rotation control means is performed by calculating data for the entire amount.
  • the magnetic body 250 has been described as being embedded in the driving magnetization means 230 and the stationary magnetization means 240, respectively, but is not limited thereto, and the driving magnetization means 230 and the stationary magnetization means 240 It may also be configured to be located in the center.
  • a magnetic body fixing part 236 supporting the second magnetic body 254 to be inserted and fixed is formed in the driving magnetization means 230, and the first magnetic body 252 is inserted into the fixed magnetization means 240.
  • a magnetic material insertion groove 246 may be formed.

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Abstract

The present invention relates to an apparatus for a drone for controlling recoil from a grenade launch. The present invention comprises: a launcher housing; a first rotation driver, which is coupled to a drone and adjusts the grenade launch angle in the x-axis direction; a support frame, which has the launcher housing rotatably connected to the two inner side surfaces thereof and has the first rotation driver mounted on the top thereof; second rotation drivers, which are coupled to the sides of the support frame and adjust the grenade launch angle in the y-axis direction of the launcher housing; rotation guide frames, which connect the support frame and the launcher housing and guide the rotatory operation of the launcher housing; an upper recoil controller, which is connected to the first rotation driver to control the rotatory operation thereof; and side recoil controllers, which are coupled to the rotation guide frames on sides thereof and control the rotatory operation of the second rotation drivers.

Description

드론의 유탄 발사 반발 제어장치Drone grenade launch repulsion control device
본 발명은 드론의 유탄 발사 반발 제어장치에 관한 것으로, 더욱 상세하게는 드론에 설치되는 짐볼 상에 유탄 발사시 발생하는 반발력을 감소시켜 주는 반발력 제어수단을 구비함으로서, 유탄의 발사 명중률을 극대화시킬 수 있는 드론의 유탄 발사 반발 제어장치에 관한 것이다.The present invention relates to a grenade firing repulsion control device of a drone, and more particularly, by providing a repelling force control means for reducing the repulsive force generated when a grenade is fired on a gimbal installed in a drone, thereby maximizing the firing accuracy of the grenade. It relates to a grenade firing repulsion control device for a drone with a drone.
일반적으로 드론(Drone)은 지상 관제시스템의 원격 제어에 의한 수동 비행, 또는 위성항법장치(GPS)를 이용한 자율 비행 등으로 항공 촬영이나 공중타격 등의 임무를 수행하는 군사용도로 개발되었으며, 점차적인 기술의 발전에 따라 정글이나 오지, 화산지역, 자연재해지역, 원자력 발전소 사고지역 등 인간이 접근할 수 없는 지역에 투입가능한 다양한 형태의 드론이 개발되고 있다.In general, drones have been developed for military purposes that perform missions such as aerial photography or aerial strikes through manual flight by remote control of a ground control system or autonomous flight using a global positioning system (GPS). With the development of technology, various types of drones are being developed that can be deployed in areas inaccessible to humans, such as jungles, remote areas, volcanic areas, natural disaster areas, and nuclear power plant accident areas.
특히, 군사용으로 사용되는 드론의 경우 유탄과 같은 반동력이 높은 무기의 발사 각도 등을 제어하기 위해 짐볼에 유탄 발사장치가 연결되도록 구성되어 있다.In particular, in the case of a drone used for military purposes, a grenade launcher is configured to be connected to a gimbal in order to control a firing angle of a weapon having a high recoil force such as a grenade.
일 예로, 대한민국 공개특허 제10-2017-0091263호에는, 병사가 은폐한 장소에서 공격용 무기를 원격 조종할 수 있도록 유탄 발사장치가 장착된 드론을 제작하여, 적과 대치하고 있는 전방 부대 병사들이 사용하는 소대급 공격 무기로 활용할 수 있도록 하는 목표물을 향해 자폭하는 카메라센서와 폭발물을 장착한 드론과 원격조정장치 및 해당 무기체계 시스템이 게재된 바 있다.For example, in Korean Patent Publication No. 10-2017-0091263, a drone equipped with a grenade launcher is manufactured so that a soldier can remotely control an offensive weapon from a concealed location, and it is used by frontline soldiers confronting the enemy. A camera sensor that self-destructs toward a target that can be used as a platoon-level attack weapon, a drone equipped with explosives, a remote control device, and a corresponding weapon system have been published.
또한, 대한민국 등록특허 제10-2213467호에는, 제어에 따라 비행 가능하게 제공되고, 몸체 및 상기 몸체에서 외측을 향해 설정 길이 연장되는 아암을 갖는 드론; 상기 드론에 탈착 가능하게 제공되고, 총기를 탑재 가능하고, 상기 총기의 발사가 이루어질 수 있도록 상기 총기 발사 장치의 상부에 위치되어, 상기 드론의 하부에 탈착 가능하게 제공되는 프레임부와, 상기 총기 발사 장치의 전방 영역에 위치되게, 상기 프레임부에 연결되어, 상기 총기의 전방 영역을 지지하는 전방 지지부와, 상기 총기 발사 장치의 후방 영역에 위치되게, 상기 프레임부에 연결되어, 상기 총기의 후방 영역을 지지하는 후방 지지부를 포함하는 총기발사 장치; 및 제어기를 포함하는 드론 시스템이 게재된 바 있다.In addition, Korean Patent Registration No. 10-2213467 discloses a drone provided capable of flying according to control and having a body and an arm extending a set length from the body toward the outside; A frame part detachably provided to the drone, capable of mounting a gun, positioned above the gun launch device so that the gun can be fired, and detachably provided at the bottom of the drone; a front support portion connected to the frame portion to be located in the front area of the device and supporting the front area of the firearm; A gun firing device including a rear support for supporting the; And a drone system including a controller has been published.
그러나, 전술한 종래 기술들에 의하면, 유탄 격발시 발생하는 충격으로 인해 짐볼의 축의 위치가 가변되거나, 해당 축의 중심이 뒤틀리면서 유탄 발사장치에 구성되는 발사기 배럴의 위치 변동이 발생하게 되고, 이로 인한 유탄의 명중률을 저하시키는 문제점이 있다.However, according to the prior art described above, the position of the axis of the gimbal is changed due to the shock generated when the grenade is fired, or the center of the axis is twisted, resulting in a change in the position of the launcher barrel configured in the grenade launcher. There is a problem of lowering the hit rate of grenades.
여기서 전술한 배경기술 또는 종래기술은 본 발명의 기술적 의의를 이해하는데 도움이 되기 위한 것일 뿐, 본 발명의 출원 전에 이 발명이 속하는 기술분야에서 널리 알려진 기술을 의미하는 것은 아니다.The background art or prior art described above is only to help understand the technical significance of the present invention, and does not mean a widely known technique in the technical field to which the present invention belongs prior to the filing of the present invention.
이와 같은 문제점을 해결하기 위하여 본 발명은 전술한 배경기술에 의해서 안출된 것으로, 드론에 설치되는 짐볼 상에 유탄 발사시 발생하는 반발력을 감소시켜 주는 반발력 제어수단을 구비함으로서, 유탄의 발사 명중률을 극대화시킬 수 있는 드론의 유탄 발사 반발 제어장치를 제공하는데 그 목적이 있다.In order to solve this problem, the present invention has been made based on the above background art, and a repulsive force control means for reducing the repulsive force generated when a grenade is fired on a gimbal installed in a drone is provided, thereby maximizing the firing accuracy of the grenade. An object of the present invention is to provide a grenade firing repulsion control device of a drone that can be used.
또한, 본 발명은 유탄 발사장치의 발사 각도 조절하는 각도 조절축의 회전 여부를 제어하고, 각도 조절이 완료된 이후, 각도 조절축이 임의적으로 회전되는 것을 방지함으로써, 유탄 발사장치의 보다 정밀한 격발이 이루어질 수 있도록 함은 물론, 유탄의 연속 격발에도 일정한 발사 각도를 유지할 수 있는 드론의 유탄 발사 반발 제어장치를 제공하는데 그 목적이 있다.In addition, the present invention controls whether the angle adjustment shaft for adjusting the launch angle of the grenade launcher is rotated, and after the angle adjustment is completed, the angle adjustment shaft is prevented from being arbitrarily rotated, so that the grenade launcher can be fired more precisely. An object of the present invention is to provide a grenade launch repulsion control device for a drone capable of maintaining a constant firing angle even when grenades are continuously fired.
다만, 본 발명의 목적은 이에만 제한되는 것은 아니며, 명시적으로 언급하지 않더라도 과제의 해결수단이나 실시 형태로부터 파악될 수 있는 목적이나 효과도 이에 포함됨은 물론이다.However, the object of the present invention is not limited thereto, and even if not explicitly mentioned, the purpose or effect that can be grasped from the solution or embodiment of the problem is also included therein, of course.
이와 같은 과제를 달성하기 위한 본 발명의 일 실시예에 따르면, 발사 하우징; 드론에 결합되며, X축 방향에 대한 유탄 발사 각도를 조절하는 제1회전 구동부; 양측 내면으로 상기 발사 하우징이 회전 가능하게 연결되고, 상부로 상기 제1회전 구동부가 장착되는 지지 프레임; 상기 지지 프레임의 측부에 결합되며, 상기 발사 하우징의 Y축 방향에 대한 유탄 발사 각도를 조절하는 제2회전 구동부; 상기 지지 프레임과 발사 하우징을 연결하고, 상기 발사 하우징의 회전 작동을 가이드 하는 회전 안내 프레임; 및 상기 제1회전 구동부와 연결되어 회전 작동을 제어하는 상부 반발 제어장치와, 상기 회전 안내 프레임의 측부에 결합되고, 상기 제2회전 구동부의 회전 작동을 제어하는 측부 반발 제어장치로 구성되되, 상기 상부 반발 제어장치 및 측부 반발 제어장치는 각각 드론의 제어부의 제어에 따라 자력에 의한 결합이 이루어지면서 상기 제1 및 제2회전 구동부의 회전 작동을 억제시켜 상기 발사 하우징의 반발력을 감소시키는 발사 반발 제어장치;를 포함하여 구성된다.According to one embodiment of the present invention for achieving this object, the launch housing; a first rotation driving unit coupled to the drone and adjusting a grenade firing angle with respect to the X-axis direction; a support frame to which the firing housing is rotatably connected to inner surfaces of both sides and to which the first rotation driving unit is mounted; a second rotation driving unit coupled to a side portion of the support frame and adjusting a launch angle of the grenade with respect to the Y-axis direction of the launch housing; a rotation guide frame connecting the support frame and the launch housing and guiding rotation of the launch housing; and an upper repulsion control device connected to the first rotation driving unit to control a rotation operation, and a side repulsion control unit coupled to a side of the rotation guide frame and controlling a rotation operation of the second rotation driving unit. The upper repulsion control device and the side repulsion control device are coupled by magnetic force under the control of the control unit of the drone, respectively, and suppress the rotational operation of the first and second rotation driving units to reduce the repelling force of the launch housing. Launch repulsion control. device; and is configured to include.
본 발명의 일 실시예에 따르면, 상기 발사 반발 제어장치는, 상기 회전 안내 프레임에 결합되어 축방향으로의 슬라이딩 이동 및 상,하 방향으로의 회전 작동이 이루어지도록 구성되는 제어 지지부재; 상기 제어 지지부재의 회전 작동을 지지하는 구동 가이드; 상기 제어 지지부재와 연결되고, 자력에 의한 결합 및 해제가 이루어지도록 제1자성체가 구성되는 구동 자화수단; 상기 제어 지지부재가 관통하며, 상기 제어부의 제어에 따라 상기 구동 자화수단측으로 소정의 자력을 발산하는 제2자성체가 구성되는 고정 자화수단; 및 상기 구동 자화수단과 고정 자화수단을 고정시켜 반발력에 의해 회전이 이루어지는 것을 방지하는 회전 방지수단을 포함하여 구성된다.According to one embodiment of the present invention, the firing repulsion control device includes a control support member coupled to the rotation guide frame and configured to slide in an axial direction and rotate in an up and down direction; a drive guide supporting rotation of the control support member; a driving magnetization means connected to the control support member and having a first magnetic body configured to engage and disengage by magnetic force; a stationary magnetization means having a second magnetic body through which the control support member passes and dissipating a predetermined magnetic force toward the driving magnetization means according to the control of the control unit; and a rotation preventing means for preventing rotation by a repulsive force by fixing the driving magnetization means and the stationary magnetization means.
본 발명의 일 실시예에 따르면, 상기 제어 지지부재는, 상기 구동 자화수단과 결합되어 자력 결합 여부에 따라 슬라이딩 이동이 이루어지도록 구성되는 제어축과, 상기 제어축의 끝단부에 결합되고, 상기 회전 안내 프레임에 삽입되어 상기 제어축과 제2회전 구동부 간의 위치를 동축선상에 위치시키는 회전 안내판으로 구성된다.According to an embodiment of the present invention, the control support member is coupled to a control shaft coupled to the driving magnetization means and configured to perform a sliding movement depending on whether magnetic force is coupled, and is coupled to an end of the control shaft, and the rotation guide It consists of a rotation guide plate inserted into the frame to position the position between the control shaft and the second rotation drive unit on a coaxial line.
본 발명의 일 실시예에 따르면, 상기 회전 방지수단은, 상기 제어축에 연결된 구동 자화수단의 외측면 원주면에 등간격으로 구성되는 제1회전 방지수단과, 상기 고정 자화수단의 내측면 원주면을 따라 구성되는 제2회전 방지수단으로 구성되며, 기어 결합 방식으로 결합이 이루어지도록 구성된다.According to one embodiment of the present invention, the rotation preventing means includes a first rotation preventing means configured at regular intervals on the circumferential surface of the outer surface of the driving magnetization means connected to the control shaft, and the circumferential surface of the inner surface of the stationary magnetizing means. It is composed of a second rotation preventing means configured along, and is configured to be coupled in a gear coupling method.
본 발명의 일 실시예에 따르면, 상기 구동 자화수단 및 고정 자화수단 사이에는 소정의 탄성력을 제공하는 탄성체와, 상기 탄성체의 이탈을 방지하는 이탈 방지 브라켓과, 상기 탄성체의 양단부가 고정될 수 있도록 탄성체 수용홈 및 탄성체 삽입홈이 각각 형성된다.According to an embodiment of the present invention, an elastic body providing a predetermined elastic force between the driving magnetization means and the stationary magnetization means, a separation prevention bracket preventing separation of the elastic body, and an elastic body so that both ends of the elastic body can be fixed. Accommodating grooves and elastic body insertion grooves are formed, respectively.
본 발명의 일 실시예에 따르면, 상기 제어축은, 끝단부에 연장 형성되는 연장 제어축과, 상기 연장 제어축을 감싸도록 구성되고, 상기 구동 자화수단과 결합되어 상기 연장 제어축의 외주면을 따라 회전 작동이 이루어지도록 구성되는 서브 제어축; 상기 구동 자화수단와 결합된 상태를 유지하도록 구성되고, 상기 제어부의 제어에 따라 회전 작동이 이루어질 수 있도록 끝단부 외주면으로 회전 제어수단; 상기 구동 자화수단과 고정 자화수단에 각각 구성되며, 상기 제1회전 방지 수단의 위치 정보를 수신받아 상기 제어부로 전송하는 센서모듈; 및 상기 연장 제어축의 단부가 결합되며, 상기 연장 제어축을 회전 안내판에 연결하는 제어축 회전브라켓;을 포함하여 구성된다.According to one embodiment of the present invention, the control shaft is configured to surround an extension control shaft extending from an end portion and the extension control shaft, and is coupled with the drive magnetizing means to perform a rotational operation along an outer circumferential surface of the extension control shaft. a sub control shaft configured to be made; Rotation control means configured to maintain a state coupled with the drive magnetization means, and rotated to the outer circumferential surface of the end so that the rotation operation can be performed under the control of the control unit; a sensor module configured in each of the driving magnetization unit and the stationary magnetization unit and receiving and transmitting the location information of the first rotation prevention unit to the control unit; and a control shaft rotation bracket coupled to an end of the extension control shaft and connecting the extension control shaft to a rotation guide plate.
본 발명의 일 실시예에 따르면, 상기 센서모듈은, 상기 구동 자화수단에 결합되며, 상기 제1회전 방지수단의 위치 정보를 전송하는 발신모듈과, 상기 제2회전 방지수단의 하부에 구성되며, 상기 발신모듈로부터 전송되는 위치 정보를 수신받아 상기 제어부로 전송하는 수신모듈로 구성된다.According to one embodiment of the present invention, the sensor module is coupled to the driving magnetization means, and is configured below the transmission module for transmitting the position information of the first rotation prevention means and the second rotation prevention means, It is composed of a receiving module that receives the location information transmitted from the sending module and transmits it to the control unit.
본 발명의 일 실시예에 따르면, 상기 지지 프레임은, 상기 제1회전 구동부와 상기 상부 반발 제어장치를 연결하고, 상기 드론과 연결될 수 있도록 각 모서리부에 고정 안내판 및 고정바가 구성되는 상부 고정 프레임; 상부에 상기 상부 반발 제어장치가 장착되며, 이 상부 반발 제어장치의 구동을 지지하는 상측 지지 프레임; 및 상기 일측 및 타측부에 각각 측부 반발 제어장치와 제2회전 구동부가 각각 서로 대향하는 위치에 회전 가능하게 결합되도록 지지하는 회전 지지 프레임과, 상기 회전 지지 프레임을 상기 상측 지지 프레임에 결합시키는 받침 블럭으로 구성되고, 상기 회전 안내 프레임이 연결되는 측부 지지 프레임;을 포함하여 구성된다.According to one embodiment of the present invention, the support frame may include: an upper fixing frame having a fixing guide plate and a fixing bar configured at each corner portion to connect the first rotation driving unit and the upper repulsion control device and to be connected to the drone; an upper support frame on which the upper repulsion control device is mounted, and which supports driving of the upper repulsion control device; And a rotational support frame for supporting the side repulsion control device and the second rotation driving unit to be rotatably coupled to the one side and the other side, respectively, at positions facing each other, and a support block coupling the rotation support frame to the upper support frame. and a side support frame to which the rotation guide frame is connected.
본 발명의 일 실시예에 따르면, 상기 회전 안내 프레임은, 상기 발사 하우징과 측부 지지 프레임을 연결하는 연결 브라켓; 상기 연결 브라켓의 내부에 삽입되며, 유탄 발사시 발생하는 충격이 측부 프레임측으로 전달되는 것을 최소화하는 연결블럭; 및 상기 연결블럭에 구성되며, 상기 측부 반발 제어장치의 축방향 이동 및 상,하 회전 작동이 이루어지도록 지지하는 작동 지지홈으로 구성된다.According to one embodiment of the present invention, the rotation guide frame, a connection bracket connecting the launch housing and the side support frame; a connection block inserted into the connection bracket and minimizing transmission of impact generated when a grenade is fired to the side frame; and an operation support groove formed in the connection block and configured to support the axial movement and up/down rotation operation of the side repulsion control device.
이와 같은 본 발명의 실시예에 의하면, 드론에 설치되는 짐볼 상에 유탄 발사시 발생하는 반발력을 감소시켜 주는 반발력 제어수단을 구비함으로서, 유탄의 발사 명중률을 극대화시킬 수 있는 효과가 있다.According to the embodiment of the present invention, a repelling force control means for reducing a repulsive force generated when a grenade is fired is provided on a gimbal installed in a drone, so that the firing accuracy of the grenade can be maximized.
또한, 본 발명의 실시예에 의하면, 유탄 발사장치의 발사 각도 조절하는 각도 조절축의 회전 여부를 제어하고, 각도 조절이 완료된 이후, 각도 조절축이 임의적으로 회전하는 것을 방지함으로써, 유탄 발사장치의 보다 정밀한 격발이 이루어질 수 있도록 함은 물론, 유탄의 연속 격발에도 일정한 발사 각도를 유지할 수 있는 효과가 있다.In addition, according to an embodiment of the present invention, by controlling whether or not the angle adjustment shaft for adjusting the firing angle of the grenade launcher is rotated and preventing the angle adjustment shaft from being rotated arbitrarily after the angle adjustment is completed, the grenade launcher is more In addition to enabling precise firing, there is an effect of maintaining a constant firing angle even when grenades are continuously fired.
더불어, 본 발명의 다양하면서도 유익한 장점과 효과는 상술한 내용에 한정되지 않으며, 본 발명의 구체적인 실시 형태를 설명하는 과정에서 보다 쉽게 이해될 수 있을 것이다.In addition, the various beneficial advantages and effects of the present invention are not limited to the above description, and will be more easily understood in the process of describing specific embodiments of the present invention.
도 1 및 도 2는 본 발명의 일 실시예에 따른 드론의 유탄 발사 반발 제어장치를 나타낸 사시도,1 and 2 are perspective views showing a grenade firing repulsion control device for a drone according to an embodiment of the present invention;
도 3은 본 발명의 일 실시예에 따른 드론의 유탄 발사 반발 제어장치를 나타낸 정면도,3 is a front view showing a grenade launch repulsion control device for a drone according to an embodiment of the present invention;
도 4는 본 발명의 일 실시예에 따른 유탄 발사 반발 제어장치를 나타낸 결합 단면도,4 is a cross-sectional view showing a grenade firing repulsion control device according to an embodiment of the present invention;
도 5 및 도 6은 본 발명의 일 실시예에 따른 유탄 발사 반발 제어장치를 나타낸 다른 실시예이다.5 and 6 are other embodiments illustrating a device for controlling grenade firing repulsion according to an embodiment of the present invention.
이하, 본 발명의 바람직한 실시예를 첨부된 도면들을 참조하여 상세히 설명한다. 우선 각 도면의 구성요소들에 참조 부호를 부가함에 있어서, 동일한 구성요소들에 대해서는 비록 다른 도면상에 표시되더라도 가능한 동일한 부호를 가지도록 하고 있음에 유의해야 한다. 또한, 본 발명을 설명함에 있어, 관련된 공지 구성 또는 기능에 대한 구체적인 설명이 본 발명의 요지를 흐릴 수 있다고 판단되는 경우에는 그 상세한 설명은 생략한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted.
또한, 이하에서 기재된 "포함하다", "구성하다" 또는 "가지다" 등의 용어는, 특별히 반대되는 기재가 없는 한, 해당 구성 요소가 내재될 수 있음을 의미하는 것이므로, 다른 구성 요소를 제외하는 것이 아니라 다른 구성 요소를 더 포함할 수 있는 것으로 해석되어야 하며, 기술적이거나 과학적인 용어를 포함한 모든 용어들은, 다르게 정의되지 않는 한, 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자에 의해 일반적으로 이해되는 것과 동일한 의미를 가진다. 또한, 본 발명의 구성 요소를 설명하는 데 있어서, 제 1, 제 2, A, B, (a), (b) 등의 용어를 사용할 수 있다. 이러한 용어는 그 구성 요소를 다른 구성 요소와 구별하기 위한 것일 뿐, 그 용어에 의해 해당 구성 요소의 본질이나 차례 또는 순서 등이 한정되지 않는다. 어떤 구성 요소가 다른 구성요소에 "연결", "결합" 또는 "접속" 된다고 기재된 경우, 그 구성 요소는 그 다른 구성요소에 직접적으로 연결되거나 또는 접속될 수 있지만, 각 구성 요소 사이에 또 다른 구성 요소가 "연결", "결합" 또는 "접속"될 수도 있다고 이해되어야 할 것이다.In addition, terms such as "comprise", "comprise" or "having" described below mean that the corresponding component may be inherent unless otherwise stated, excluding other components. All terms, including technical or scientific terms, are generally understood by those skilled in the art to which the present invention belongs, unless otherwise defined. have the same meaning as understood. Also, terms such as first, second, A, B, (a), and (b) may be used in describing the components of the present invention. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. When an element is described as being “connected”, “coupled” or “connected” to another element, that element is or may be directly connected to the other element, but there is another element between the elements. It will be understood that elements may be “connected”, “coupled” or “connected”.
이하, 첨부된 도면을 참고하여 본 발명의 실시예들을 상세히 설명하도록 한다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도시된 바와 같이, 본 발명의 드론의 유탄 발사 반발 제어장치는 유탄 발사장치와, 이 유탄 발사장치에 결합되며, 유탄 발사시 발생하는 반발력을 감소시키는 발사 반발 제어장치(200)를 포함하여 구성된다.As shown, the grenade launch repulsion control device of the drone of the present invention includes a grenade launcher and a launch repulsion control device 200 coupled to the grenade launcher and reducing the repelling force generated when the grenade is fired. .
유탄 발사장치는, 상부 고정 프레임(110), 상측 지지 프레임(130) 및 측부 지지 프레임(140)으로 구성되는 지지 프레임, 제1회전 구동부(120), 제2회전 구동부(150), 회전수단(160), 발사 하우징(170), 전원공급부(180)를 포함하여 구성된다.The grenade launcher includes a support frame composed of an upper fixed frame 110, an upper support frame 130 and a side support frame 140, a first rotation driving unit 120, a second rotation driving unit 150, a rotating means ( 160), a launch housing 170, and a power supply unit 180.
상부 고정 프레임(110)은 유탄 발사장치를 드론의 하부면에 장착시키는 것으로, 상기 상부 고정 프레임(110)의 상부 중앙으로 제1회전 구동부(120)가 회전 가능하게 결합될 수 있다. 이 제1회전 구동부(120)가 드론의 하부에 구성되는 회전모터와 연결될 수 있다. 상부 중앙으로 상기 제1회전 구동부(120)가 장착되고, 이 제1회전 구동부(120)와 동축선상에 발사 반발 제어장치(200)의 상부 반발 제어장치(202)(이하에서 후술)와 결합될 수 있도록 지지한다.The upper fixed frame 110 mounts the grenade launcher on the lower surface of the drone, and the first rotation driving unit 120 can be rotatably coupled to the upper center of the upper fixed frame 110. The first rotation driving unit 120 may be connected to a rotation motor configured in the lower part of the drone. The first rotation driving unit 120 is mounted in the upper center, and is coupled with the upper repulsion control device 202 (described later) of the firing repulsion control unit 200 on a coaxial line with the first rotation driving unit 120. support so that
이러한 상부 고정 프레임(110)은 각 모서리 부분에 결합되는 고정 안내판(112)과, 고정 안내판(112)의 상부에 고정 결합되며, 상부 고정 프레임(110)을 드론의 하부에 연결하는 고정바(114)로 구성된다.The upper fixed frame 110 is fixedly coupled to the fixed guide plate 112 coupled to each corner and to the upper portion of the fixed guide plate 112, and the fixed bar 114 connecting the upper fixed frame 110 to the lower part of the drone. ) is composed of
이때, 고정바(114)에는 축방향과 직교를 이루는 방향으로 관통되게 형성되어 연결암과 같은 연결장치가 결합되어 드론과의 결합, 또는 분리가 용이하게 이루어질 수 있도록 구성될 수 있을 것이다.At this time, the fixing bar 114 may be formed to penetrate in a direction orthogonal to the axial direction, and a connection device such as a connection arm may be coupled to facilitate coupling or separation with the drone.
제1회전 구동부(120)는 상부 고정 프레임(110)에 회전 가능하게 결합되며, 드론의 회전모터와 연결되어 상기 회전모터의 회전 방향, 다시말해 유탄 발사장치가 X축 방향으로 회전 작동이 이루어지도록 하는 구성요소이다.The first rotation drive unit 120 is rotatably coupled to the upper fixed frame 110 and connected to the rotation motor of the drone so that the rotational operation of the grenade launcher is performed in the rotation direction of the rotation motor, that is, in the X-axis direction. It is a component that
이러한 제1회전 구동부(120)는 상부 고정 프레임(110)의 하부에 구성되는 상부 반발 제어장치(202)와 연결되어 유탄 발사장치의 X축 방향에 대한 발사각도의 설정이 완료된 이후, 유탄 발사시 발생하는 반발력으로 인해 설정된 X축 발사각도가 변화하는 것을 방지하도록 구성된다.The first rotation driving unit 120 is connected to the upper repulsion control device 202 formed under the upper fixed frame 110, and after the setting of the firing angle in the X-axis direction of the grenade launcher is completed, the grenade is fired. It is configured to prevent the set X-axis launch angle from changing due to the generated repulsive force.
이때, 제1회전 구동부(120)는 유탄 발사장치의 X축 방향에 대한 발사각도의 설정이 완료된 이후, 설정 완료 신호를 드론의 제어부로 전송하고, 상기 드론의 제어부에서는 상부 반발 제어장치(202)의 구동을 제어하여 제1회전 구동부(120)가 임의적으로 회전 작동이 이루어지는 것을 방지하도록 구성될 수 있다.At this time, the first rotation driving unit 120 transmits a setting completion signal to the control unit of the drone after setting the launch angle of the grenade launcher in the X-axis direction, and the control unit of the drone uses the upper repulsion control unit 202 It may be configured to prevent the first rotation drive unit 120 from being arbitrarily rotated by controlling the driving of the.
상측 지지 프레임(130)은 상부 반발 제어장치(202)의 장착이 이루어지도록 구성되고, 양측단부로 측부 지지 프레임(140)이 결합되도록 구성된다.The upper support frame 130 is configured so that the upper repulsion control device 202 is mounted, and the side support frame 140 is coupled to both ends.
측부 지지 프레임(140)은 상측 지지 프레임(130)의 양측 단부에 수직하게 결합되며, 유탄을 발사하는 발사 하우징(170)의 Y축 방향에 대한 발사 각도의 조절이 이루어질 수 있도록 지지하는 한편, 발사 하우징(170)을 통해 유탄의 발사시 발생하는 반발력을 감소시켜 발사 하우징(170)의 Y축 방향에 대한 발사 각도를 안정적으로 유지할 수 있도록 지지하는 구성 요소이다.The side support frame 140 is vertically coupled to both ends of the upper support frame 130, and supports so that the launch angle of the launch housing 170 for launching a grenade in the Y-axis direction can be adjusted. It is a component that supports the firing housing 170 to stably maintain the firing angle of the firing housing 170 in the Y-axis direction by reducing the repulsive force generated when the grenade is fired through the housing 170.
이러한 측부 지지 프레임(140)은 회전 지지 프레임(142) 및 받침블럭(144)을 포함하도록 구성된다.The side support frame 140 is configured to include a rotation support frame 142 and a supporting block 144.
회전 지지 프레임(142)은 복수개의 패널로 구성될 수 있으며, 상측 지지 프레임(130)의 일측 및 타측에 각각 고정 결합되도록 한 쌍으로 구비될 수 있다. 회전 지지 프레임(142)은 발사 반발 제어장치(200)의 측부 반발 제어장치(204)와 제2회전 구동부(150)가 각각 서로 대향하는 위치에 회전 가능하게 결합되도록 지지할 수 있다. 바람직하게는, 상측 지지 프레임(130)의 일측부에 측부 반발 제어장치(204)가 회전 가능하게 결합되고, 상측 지지 프레임(130)의 타측부에는 제2회전 구동부(150)가 회전 가능하게 결합되는 것이다.The rotating support frame 142 may be composed of a plurality of panels, and may be provided as a pair so as to be fixedly coupled to one side and the other side of the upper support frame 130, respectively. The rotational support frame 142 may support the side repulsion control device 204 of the firing repulsion control device 200 and the second rotation driving unit 150 so as to be rotatably coupled to positions facing each other. Preferably, the side repulsion control device 204 is rotatably coupled to one side of the upper support frame 130, and the second rotation driving unit 150 is rotatably coupled to the other side of the upper support frame 130. It will be.
받침블럭(144)은 이 회전 지지 프레임(142)에 수평하게 결합되어 복수의 패널들이 서로 이격되게 결합시키기 위한 구성이다. 동시에 받침블럭(144)은 상기 회전 지지 프레임(142)을 상측 지지 프레임(130)에 결합시킨다.The support block 144 is horizontally coupled to the rotational support frame 142 and is configured to couple a plurality of panels spaced apart from each other. At the same time, the support block 144 couples the rotation support frame 142 to the upper support frame 130.
이때, 회전 지지 프레임(142)은 하부 중앙으로 측부 반발 제어장치(204)와 제2회전 구동부(150)가 각각 관통되게 결합될 수 있도록 하는 결합홀이 구성된다.At this time, the rotation support frame 142 is configured with a coupling hole through which the side repulsion control device 204 and the second rotation driving unit 150 can be coupled to each other at the lower center.
또한, 받침블럭(144)은 회전 지지 프레임(142)의 상단부 및 중간부에 회전 지지 프레임(142)과 직교를 이루도록 결합될 수 있다. 그리고 받침블럭(144)의 중앙부가 관통되게 형성되어 드론의 제어부와 데이터 송수신이 가능하도록 전원 및 통신 케이블 등의 통과가 이루어지도록 구성될 수 있다.In addition, the support block 144 may be coupled to the upper end and the middle portion of the rotation support frame 142 so as to achieve orthogonality with the rotation support frame 142 . In addition, the central portion of the supporting block 144 may be formed to pass through so that power and communication cables may pass through so that data transmission and reception is possible with the control unit of the drone.
제2회전 구동부(150)는 상측 지지 프레임(130)의 타측부에 구성되는 측부 지지 프레임(140)에 결합되는 회전수단(160)과 연결되어, 발사 하우징(170)의 Y축 방향에 대한 발사 각도의 조절이 이루어지도록 구성된다.The second rotation driving unit 150 is connected to the rotation means 160 coupled to the side support frame 140 formed on the other side of the upper support frame 130, and fires in the Y-axis direction of the launch housing 170. It is configured to adjust the angle.
이때, 회전수단(160)은 드론의 제어부와 연동하여 이 제어부의 제어에 따라 일정 각도 만큼 회전 작동이 이루어지도록 구성된다.At this time, the rotation means 160 is configured to be rotated by a certain angle according to the control of the control unit in conjunction with the control unit of the drone.
아울러, 본 발명에는 측부 지지 프레임(140)과 발사 하우징(170)을 연결하고, 발사 하우징(170)의 회전 작동을 가이드하는 한편, 측부 반발 제어장치(204)의 작동을 가이드 하는 회전 안내 프레임(150a)이 더 구성될 수 있다.In addition, in the present invention, the rotation guide frame ( 150a) may be further configured.
회전 안내 프레임(150a)은, 발사 하우징(170)의 전방부 양측에 각각 고정 결합되어 발사 하우징(170)과 측부 지지 프레임(140)을 연결하는 연결 브라켓(152)과, 연결 브라켓(152)의 내부에 삽입되며, 유탄 발사시 발생하는 충격이 측부 지지 프레임(140)측으로 전달되는 것을 최소화하는 연결블럭(154)을 포함하여 구성된다.The rotation guide frame 150a is fixedly coupled to both sides of the front portion of the launch housing 170 and connects the launch housing 170 and the side support frame 140 to each other. It is inserted inside and includes a connection block 154 that minimizes the transmission of impact generated when a grenade is fired to the side support frame 140.
여기서, 연결블럭(154)에는 후술할 측부 반발 제어장치(204)에 구성되는 제어 지지부재(210)가 제2회전 구동부(150) 및 회전수단(160)의 축 중심과 동일중심을 가지는 위치에 삽입이 이루어지도록 구성되고, 이 제어 지지부재(210)의 축방향 이동 및 상,하 회전 작동이 이루어지도록 지지하는 작동 지지홈(156)이 형성된다.Here, in the connection block 154, the control support member 210 configured in the side repulsion control device 204 to be described later is located at the same center as the axis center of the second rotation drive unit 150 and the rotation means 160. It is configured to be inserted, and an operation support groove 156 is formed to support the control support member 210 to move in an axial direction and rotate upward and downward.
발사 하우징(170)은 드론 제어부의 제어에 따라 유탄의 발사가 이루어지도록 구성되는 것으로, 전방측 중앙부에 형성되며, 유탄 발사시 발생하는 반발력을 저감시키는 반발 저감부(172)와, 반발 저감부(172)에 연결되게 구성되고 드론의 제어부의 제어에 따라 유탄을 발사키시는 유탄 발사부(174)를 포함하여 구성된다.The launch housing 170 is configured to launch a grenade under the control of a drone control unit, and is formed in the center of the front side, and includes a rebound reducing unit 172 that reduces a repulsive force generated when a grenade is launched, and a rebound reducing unit ( 172) and includes a grenade launcher 174 that fires a grenade under the control of a control unit of a drone.
전원 공급부(180)는 상기 회전수단(160) 및 발사 반발 제어장치(200)의 구동을 위한 소정의 전원이 저장, 및 충전이 이루어지도록 구성되고, 드론의 제어부와 연동하여 상기 회전수단(160) 및 발사 반발 제어장치(200)로 일정량의 전원을 공급하는 구성요소이다.The power supply unit 180 is configured to store and charge a predetermined power for driving the rotation unit 160 and the firing repulsion control device 200, and interlocks with the control unit of the drone to operate the rotation unit 160. and a component that supplies a certain amount of power to the firing repulsion control device 200.
발사 반발 제어장치(200)는 상부 반발 제어장치(202) 및 측부 반발 제어장치(204)를 포함하도록 구성된다.The launch repulsion control device 200 is configured to include an upper repulsion control device 202 and a side repulsion control device 204.
상부 반발 제어장치(202)는 상측 지지 프레임(130)에 결합되며, 제1회전 구동부(120)와 연결되어 상기 제1회전 구동부(120)의 회전 작동을 제어할 수 있다.The upper repulsion control device 202 is coupled to the upper support frame 130 and is connected to the first rotation driving unit 120 to control the rotational operation of the first rotation driving unit 120 .
측부 반발 제어장치(204)는 측부 지지 프레임(140)에 결합되고, 제2회전 구동부(150)와 회전수단(160)이 연결되도록 회전 안내 프레임(150a)에 구성되고 제2회전 구동부(150)의 회전 작동을 제어할 수 있다.The side repulsion control device 204 is coupled to the side support frame 140, is configured in the rotation guide frame 150a so that the second rotation drive unit 150 and the rotation means 160 are connected, and the second rotation drive unit 150 rotation operation can be controlled.
이때, 상부 반발 제어장치(202)와 측부 반발 제어장치(204)는 동일한 형상을 이루도록 구성될 수 있으며, 드론의 제어부와 연동하여 상기 드론의 제어부의 제어에 따라 구동이 이루어지도록 구성될 수 있다.At this time, the upper repulsion control device 202 and the side repulsion control device 204 may be configured to have the same shape, and may be configured to be driven according to the control of the control unit of the drone in conjunction with the control unit of the drone.
이러한 발사 반발 제어장치(200)는 제어 지지부재(210), 구동 가이드(220), 구동 자화수단(230), 고정 자화수단(240), 자성체(250) 및 회전 방지수단(260)을 포함하여 구성된다.The firing repulsion control device 200 includes a control support member 210, a driving guide 220, a driving magnetization means 230, a fixed magnetization means 240, a magnetic body 250, and a rotation prevention means 260. It consists of
제어 지지부재(210)는 회전 안내 프레임(150a)에 결합되어 축방향으로의 슬라이딩 이동 및 상,하 방향으로의 회전 작동이 이루어지도록 구성된다.The control support member 210 is coupled to the rotation guide frame 150a and is configured to slide in an axial direction and rotate in an up and down direction.
구동 가이드(220)는 제어 지지부재(210)의 회전 작동을 지지한다.The drive guide 220 supports the rotational operation of the control support member 210 .
구동 자화수단(230)은 제어 지지부재(210)가 관통하며 자력에 의한 결합 및 해제가 이루어지도록 제어 지지부재(210)의 축 방향으로 슬라이딩 이동이 이루어지도록 구성된다.The drive magnetization means 230 is configured to slide in the axial direction of the control support member 210 so that the control support member 210 penetrates and engages and disengages by magnetic force.
고정 자화수단(240)은 제어 지지부재(210)가 관통하며, 측부 지지 프레임(140)에 결합되어 드론의 제어부의 제어에 따라 구동 자화수단(230)측으로 소정의 자력을 발산한다.The fixed magnetization means 240 passes through the control support member 210 and is coupled to the side support frame 140 to radiate a predetermined magnetic force toward the drive magnetization means 230 under the control of the control unit of the drone.
자성체(250)는 구동 자화수단(230) 및 고정 자화수단(240)에 각각 구성된다.The magnetic body 250 is configured in the drive magnetization means 230 and the stationary magnetization means 240, respectively.
회전 방지수단(260)은 구동 자화수단(230)과 고정 자화수단(240)이 자력에 의한 결합이 이루어질 때, 상기 구동 자화수단(230)과 고정 자화수단(240)을 고정시켜 반발력에 의해 회전이 이루어지는 것을 방지하는 구성이다.When the driving magnetization means 230 and the fixed magnetization means 240 are coupled by magnetic force, the rotation preventing means 260 fixes the driving magnetization means 230 and the fixed magnetization means 240 to rotate by the repelling force. It is a configuration that prevents this from happening.
제어 지지부재(210)는 제어축(212) 및 회전 안내판(214)으로 구성된다.The control support member 210 is composed of a control shaft 212 and a rotation guide plate 214.
제어축(212)은 측부 지지 프레임(140), 구동 가이드(220), 구동 및 고정 자화수단(230, 240)을 관통한다. 그리고 구동 자화수단(230)은 제어축(212)과 결합되어 자력 결합 여부에 따라 슬라이딩 이동이 이루어지도록 구성된다. The control shaft 212 passes through the side support frame 140, the drive guide 220, and the drive and stationary magnetization means 230 and 240. Also, the drive magnetization means 230 is coupled to the control shaft 212 and is configured to perform sliding movement depending on whether magnetic force is coupled.
회전 안내판(214)은 제어축(212)의 끝단부에 결합되고, 회전 안내 프레임(150a)의 작동 지지홈(156)에 삽입되어 제어축(212)과 제2회전 구동부(150) 및 회전수단(160) 간의 위치가 동축선상에 위치하도록 하는 구성이다.The rotation guide plate 214 is coupled to the end of the control shaft 212 and is inserted into the operation support groove 156 of the rotation guide frame 150a to allow the control shaft 212, the second rotation drive unit 150 and the rotation means (160) is configured so that the position between them is located on the coaxial line.
여기서, 회전 안내판(214)은 구동 자화수단(230)의 슬라이딩 이동시 함께 이동이 이루어지도록 구성되며, 이동 범위는 상기 작동 지지홈(156)의 깊이에 대응되도록 구성된다.Here, the rotation guide plate 214 is configured to move together with the sliding movement of the drive magnetizing means 230, and the movement range is configured to correspond to the depth of the operating support groove 156.
구동 가이드(220)는 통상의 베어링 하우징으로 이루어질 수 있으며, 제어축(212)의 양단부에 각각 구성되어 발사 하우징(170)의 발사 각도 조절시 제어축(212)의 상,하 회전 작동을 지지하는 역할을 한다.The drive guide 220 may be formed of a normal bearing housing, and is configured at both ends of the control shaft 212 to support the up and down rotational operation of the control shaft 212 when adjusting the launch angle of the launch housing 170. play a role
구동 자화수단(230)은 제어축(212)과 결합되고 고정 자화수단(240)의 자화 상태에 따라 제어축(212)과 함께 슬라이딩 이동이 이루어지는 구성이다. 그리고 구동 자화수단(230)은 고정 자화수단(240)의 자화 상태에 따라 상기 고정 자화수단(240)과 결합되어 발사 하우징(170)의 회전 작동을 억제시킬 수 있다. 구동 자화수단(230)은 고정 자화수단(240)의 자화 상태에 따라 반대로 고정 자화수단(240)과 결합 해제되어 발사 하우징(170)의 회전 작동이 가능하게 할 수 있을 것이다. 구동 자화수단(230)은 발사 하우징(170)의 회전 작동을 선택적으로 억제시켜 반발력에 의하여 Y축 방향에 대한 발사 각도가 가변되는 것을 방지하는 구성요소이다.The driving magnetization unit 230 is coupled to the control shaft 212 and is configured to slide together with the control shaft 212 according to the magnetization state of the stationary magnetization unit 240 . Also, the driving magnetization unit 230 may be combined with the stationary magnetization unit 240 according to the magnetization state of the stationary magnetization unit 240 to suppress the rotational operation of the launch housing 170 . The driving magnetization unit 230 may be disengaged from the stationary magnetization unit 240 in reverse according to the magnetization state of the stationary magnetization unit 240, thereby enabling the rotational operation of the launch housing 170. The drive magnetization means 230 is a component that selectively suppresses the rotational operation of the launch housing 170 to prevent the firing angle in the Y-axis direction from being varied due to the repulsive force.
이러한 구동 자화수단(230)은 제1자성체(252) 및 제1회전 방지수단(262)을 포함하도록 구성된다. 제1자성체(252)는 구동 자화수단(230)의 내부에 내장되는 형태로 구비된다. 제1회전 방지수단(262)은 제1자성체(252)가 외면측 원주면을 따라 등간격으로 구성되어 고정 자화수단(240)과의 결합이 이루어질 때 발사 하우징(170)에 대한 회전 억제력을 극대화시키기 위한 구성이다.The drive magnetization means 230 is configured to include a first magnetic body 252 and a first rotation preventing means 262 . The first magnetic material 252 is provided in a form embedded inside the driving magnetization means 230 . The first anti-rotation means 262 maximizes the anti-rotation force for the launch housing 170 when the first magnetic material 252 is formed at equal intervals along the outer circumferential surface and coupled with the fixed magnetization means 240. It is a configuration to
여기서, 상기 제1회전 방지수단(262)은 구동 자화수단(230)의 각 분기점이 위치하는 부분에 각각 구성될 수 있으나, 이에 한정하는 것은 아니다.Here, the first rotation preventing means 262 may be configured at each branching point of the driving magnetization means 230, but is not limited thereto.
이와 같이 구성된 구동 자화수단(230)에는 제어축(212)과의 결합이 이루어지도록 지지하는 축 연결부(232)가 더 구성될 수 있다. 이 축 연결부(232)에는 다수개의 관통홀(232a) 및 키 삽입홈(232b)이 형성된다. 다수개의 관통홀(232a)은 원주면을 따라 소정 간격 이격되게 구성되며 고정핀이 삽입될 수 있다. 키 삽입홈(232b)은 제어축(212), 또는 구동 자화수단(230)의 단독 회전을 방지할 수 있도록 고정키가 삽입될 수 있다.The driving magnetization means 230 configured as described above may further include a shaft connecting portion 232 supporting the coupling with the control shaft 212 . A plurality of through holes 232a and key insertion grooves 232b are formed in the shaft connecting portion 232. The plurality of through holes 232a are configured to be spaced apart at predetermined intervals along the circumferential surface, and fixing pins may be inserted therein. A fixed key may be inserted into the key insertion groove 232b to prevent single rotation of the control shaft 212 or the driving magnetization means 230 .
고정 자화수단(240)은 측부 지지 프레임(140)에 결합되고, 받침블럭(144)에 의해 수용되는 케이블 부재등과 연결되어 드론의 제어부의 제어에 따라 동작한다. 고정 자화수단(240)은 구동 자화수단(230)과 자력에 의한 결합이 이루어지거나, 또는 구동 자화수단(230)을 밀어 내어 분리가 이루어지도록 구성된다.The fixed magnetization means 240 is coupled to the side support frame 140 and is connected to a cable member accommodated by the support block 144 and operates under the control of the controller of the drone. The stationary magnetization means 240 is configured to be coupled to the driving magnetization means 230 by magnetic force or separated by pushing the driving magnetization means 230.
이러한 고정 자화수단(240)은 일단부에 측부 지지 프레임(140)과의 고정 결합이 이루어지도록 지지하는 결합 플랜지(270)가 구성된다.The fixed magnetization means 240 is configured with a coupling flange 270 that supports to be fixedly coupled with the side support frame 140 at one end.
또한, 고정 자화수단(240)은 제2자성체(254) 및 제2회전 방지수단(264)를 포함하도록 구성된다. 제2자성체(254)는 고정 자화수단(240)의 내부에 내장되는 형태로 구비된다. 제2회전 방지수단(264)은 외면측 원주면을 따라 등간격으로 구성되어 구동 자화수단(230)과의 결합이 이루어질 때 발사 하우징(170)에 대한 회전 억제력을 극대화시키기 위한 구성이다.In addition, the stationary magnetization means 240 is configured to include a second magnetic body 254 and a second anti-rotation means 264 . The second magnetic body 254 is provided in a form embedded inside the stationary magnetization means 240 . The second anti-rotation means 264 is configured at equal intervals along the outer circumferential surface to maximize the rotation restraining force of the launch housing 170 when coupled with the driving magnetization means 230.
자성체(250)는 제1 및 제2자성체(252, 254)로 구성된다.The magnetic body 250 is composed of first and second magnetic bodies 252 and 254 .
제1자성체(252)는 구동 자화수단(230)의 내부에 내장되고, 드론의 제어부의 제어에 따라 선택적으로 자화가 이루어지는 전자석으로 구성된다.The first magnetic body 252 is built into the driving magnetization unit 230 and is composed of an electromagnet selectively magnetized under the control of a controller of the drone.
제1자성체(252)는 선택적인 자화를 통하여, 유탄 발사시 발생하는 반발력에 의해 발사 하우징(170)이 제어축(212) 및 제2회전 구동부(150)의 축 중심을 기준으로 일정 각도 만큼 회전이 이루어지는 것을 방지하는 역할을 한다.The first magnetic body 252 is selectively magnetized, and the firing housing 170 rotates by a predetermined angle based on the center of the axis of the control shaft 212 and the second rotation drive unit 150 by the repelling force generated when the grenade is fired. serves to prevent this from happening.
또한, 제2자성체(254)는 고정 자화수단(240)의 내부에 내장되며, 제1자성체(252)의 자화 여부에 따라 상기 제1자성체(252)와 자력에 의한 결합이 이루어지거나, 분리되어 구동 자화수단(230)을 고정 자화수단(240)으로부터 이격시키도록 구성된다.In addition, the second magnetic body 254 is embedded inside the stationary magnetizing means 240, and is coupled or separated from the first magnetic body 252 by magnetic force depending on whether the first magnetic body 252 is magnetized. It is configured to separate the driving magnetization means 230 from the stationary magnetization means 240.
회전 방지수단(260)은 통상의 기어구조로 구성되는 것으로, 제1회전 방지수단(262) 및 제2회전 방지수단(264)을 포함하도록 구성된다.The rotation preventing means 260 is composed of a conventional gear structure, and is configured to include a first rotation preventing means 262 and a second rotation preventing means 264.
제1회전 방지수단(262)은 구동 자화수단(230)의 외측면 원주면에 등간격으로 구성된다. 그리고 제2회전 방지수단(264)은 고정 자화수단(240)의 내측면 원주면을 따라 구성된다.The first rotation preventing means 262 is formed at regular intervals on the circumferential surface of the outer surface of the driving magnetization means 230 . And the second anti-rotation means 264 is formed along the inner circumferential surface of the stationary magnetization means 240 .
이러한 회전 방지수단(260)은 구동 자화수단(230)이 고정 자화수단(240)과 결합이 이루어질 때, 제1회전 방지수단(262)이 제2회전 방지수단(264)과 기어 결합 방식으로 결합시킨다. 이러한 결합을 통하여 회전 방지수단(260)은 유탄 발사시 발생하는 반발력에 의해 발사 하우징(170)이 임의적으로 회전하는 것을 방지하는 기능을 극대화시킨다.When the drive magnetization means 230 is coupled with the stationary magnetization means 240, the first rotation prevention means 262 is coupled to the second rotation prevention means 264 in a gear coupling manner. let it Through this combination, the anti-rotation means 260 maximizes the function of preventing the firing housing 170 from arbitrarily rotating due to the repulsive force generated when the grenade is fired.
이와 같이 구성된 본 발명의 발사 반발 제어장치(200)는 도 5에 도시된 바와 같이, 구동 자화수단(230)이 고정 자화수단(240)으로부터 보다 신속하게 이격될 수 있도록 안내할 수 있다. 그리고, 발사 반발 제어장치(200)는 구동 자화수단(230)의 이격 작동시 주변 구성요소, 다시말해 측부 지지 프레임(140) 및 구동 가이드(220)와의 충돌을 최소화하여 구동 자화수단(230)의 파손이 발생하는 것을 방지할 수 있도록 구성될 수도 있다.As shown in FIG. 5, the firing repulsion control device 200 of the present invention configured as described above can guide the driving magnetization means 230 to be separated from the stationary magnetization means 240 more quickly. In addition, the firing repulsion control device 200 minimizes the collision with the surrounding components, that is, the side support frame 140 and the driving guide 220, when the driving magnetization means 230 is separated, so that the driving magnetization means 230 It may also be configured to prevent breakage from occurring.
이때, 구동 자화수단(220) 및 고정 자화수단(240) 사이에는 소정의 탄성력을 제공하는 탄성체(280)가 배치될 수 있다. 그리고, 구동 자화수단(220) 및 고정 자화수단(240)에 상기 탄성체(280)의 양단부가 고정될 수 있도록 탄성체 수용홈 및 탄성체 삽입홈(234, 244)이 각각 형성될 수 있다.At this time, an elastic body 280 providing a predetermined elastic force may be disposed between the driving magnetization means 220 and the stationary magnetization means 240 . In addition, elastic body accommodating grooves and elastic body insertion grooves 234 and 244 may be respectively formed so that both ends of the elastic body 280 may be fixed to the driving magnetization unit 220 and the stationary magnetization unit 240 .
또한, 탄성체 수용홈 및 탄성체 삽입홈(234, 244)에는 탄성체(280)가 임의적으로 이탈하는 것을 방지하기 위해 이탈 방지 브라켓(282)이 더 구성될 수 있으나, 이에 한정하는 것은 아니다.In addition, separation prevention brackets 282 may be further configured in the elastic body receiving groove and the elastic body insertion grooves 234 and 244 to prevent the elastic body 280 from being arbitrarily separated, but the present invention is not limited thereto.
도 6에 도시된 바와 같이, 본 발명의 발사 반발 제어장치(200)는 전술한 제1 및 제2회전 방지수단(262,264)의 기어치가 서로 엇갈리는 위치를 형성하여 정합에 의한 결합이 이루어지도록 안내한다. 또한 본 발명의 발사 반발 제어장치(200)는 자성체(250)에 의해 구동 자화수단(230)이 고정 자화수단(240)과 결합이 이루어질 때, 제1 및 제2회전 방지수단(262, 264)이 서로 충돌에 의해 파손이 발생하면서 회전 방지 기능이 저하되는 것을 방지하기 위해 제어축(212)이 일방향 회전 작동을 하면서 상기 제1 및 제2회전 방지수단(262, 264)의 기어치가 서로 엇갈리는 위치를 이루도록 구성될 수 있을 것이다.As shown in FIG. 6, the firing repulsion control device 200 of the present invention guides the gear teeth of the first and second rotation preventing means 262 and 264 to be interlaced with each other so that they are engaged by matching. . In addition, in the firing repulsion control device 200 of the present invention, when the driving magnetization means 230 is coupled with the stationary magnetization means 240 by the magnetic material 250, the first and second rotation prevention means 262, 264 Position where the gear teeth of the first and second anti-rotation means 262, 264 are crossed with each other while the control shaft 212 operates in one direction to rotate in order to prevent the anti-rotation function from deteriorating while damage occurs due to collision with each other may be configured to achieve
이를 위해서 본 발명의 일실시예에선는, 제어축(212)의 끝단부에 연장 형성되는 연장 제어축(212a)이 더 구성되고, 이 연장 제어축(212a)을 감싸도록 구성되고, 외주면이 구동 자화수단(230)의 축 연결부(232)와 결합되어 상기 연장 제어축(212a)의 외주면을 따라 일방향 회전 작동이 이루어질 수 있도록 구성되는 서브 제어축(320)이 더 구성될 수 있다.To this end, in one embodiment of the present invention, an extended control shaft 212a extending from the end of the control shaft 212 is further configured, and configured to surround the extended control shaft 212a, and the outer circumferential surface is driven by magnetization. A sub control shaft 320 coupled to the shaft connecting portion 232 of the means 230 and configured to perform a one-way rotational operation along the outer circumferential surface of the extension control shaft 212a may be further configured.
여기서, 서브 제어축(320)은 축 연결부(232)와 결합된 상태를 유지하도록 구성될 수 있다. 그리고, 센서모듈(310)로부터 제1회전 방지수단(262)의 위치 정보를 수신 받은 드론의 제어부의 제어에 따라 회전 작동이 이루어질 수 있도록 서브 제어축(320)의 끝단부 외주면으로 회전 제어수단(미도시)이 더 구성될 수 있다.Here, the sub control shaft 320 may be configured to maintain a coupled state with the shaft connection unit 232 . In addition, the rotation control means (rotation control means ( not shown) may be further configured.
이때, 회전 제어수단은 기어, 스프로켓, 벨트 등과 같은 동력 전달 수단으로 구성될 수 있으며, 이 동력 전달수단을 구동시키는 구동모터를 더 포함할 수 있다.At this time, the rotation control means may be composed of power transmission means such as gears, sprockets, belts, etc., and may further include a drive motor for driving the power transmission means.
또한, 서브 제어부(320)에는 내부를 관통하는 연장 제어축(212a)의 단부가 결합되며, 이 연장 제어축(212a)을 회전 안내판(214)에 연결하는 제어축 회전 브라켓(330)이 더 구성됨이 바람직하다.In addition, the end of the extension control shaft 212a passing through the inside is coupled to the sub control unit 320, and a control shaft rotation bracket 330 connecting the extension control shaft 212a to the rotation guide plate 214 is further configured this is preferable
아울러, 센서모듈(310)은 발신모듈(312) 및 수신모듈(314)을 포함하도록 구성될 수 있다.In addition, the sensor module 310 may be configured to include a sending module 312 and a receiving module 314.
발신모듈(312) 및 수신모듈(314)은 회전 방지수단(260)의 하부에 위치할 수 있도록 상기 구동 자화수단(230)과 고정 자화수단(240)에 각각 구성되되, 서로 대향하는 위치에 배치될 수 있도록 구성된다.The transmitting module 312 and the receiving module 314 are respectively configured in the driving magnetization means 230 and the fixed magnetization means 240 so as to be positioned below the rotation preventing means 260, and disposed at opposite positions. configured so that it can be
발신모듈(312)은 구동 자화수단(230)의 제1회전 방지수단(262)의 하부에 구성되고, 상기 제1회전 방지수단(262)의 위치 정보를 전송하도록 구성된다.The transmitting module 312 is configured under the first rotation preventing means 262 of the driving magnetization means 230 and is configured to transmit the position information of the first rotation preventing means 262 .
수신모듈(314)은 고정 자화수단(240)의 제2회전 방지수단(264)의 하부에 구성되되, 상기 제2회전 방지수단(264)의 형상과 대응되도록 링의 형상으로 구성되며, 발신모듈(312)로부터 전송되는 위치 정보를 수신받아 드론의 제어부로 전송하도록 구성될 수 있다.The receiving module 314 is configured under the second rotation preventing means 264 of the fixed magnetization means 240, and is configured in a ring shape to correspond to the shape of the second rotation preventing means 264, and the transmitting module It may be configured to receive location information transmitted from 312 and transmit it to the control unit of the drone.
이때, 드론의 제어부는 수신모듈(314)로부터 전송되는 위치 정보를 분석하여 제1회전 방지수단(262)과 제2회전 방지수단(264)의 기어치의 위치를 파악할 수 있다. 그리고 드론의 제어부는 파악된 위치 정보로부터 상기 제1회전 방지수단(262)과 제2회전 방지수단(264)의 기어치들이 서로 엇갈리는 형태를 이룰 수 있도록 하기 위해 상기 서브 제어축(320)의 회전량에 대한 데이터를 산출하여 상기 회전 제어수단의 제어가 이루어지도록 구성된다.At this time, the control unit of the drone may analyze the location information transmitted from the receiving module 314 to determine the positions of the gear teeth of the first rotation preventing means 262 and the second rotation preventing means 264 . In addition, the control unit of the drone rotates the sub control shaft 320 so that the gear teeth of the first rotation preventing means 262 and the second rotation preventing means 264 form a form in which the gear teeth are staggered from the grasped location information. It is configured so that control of the rotation control means is performed by calculating data for the entire amount.
아울러, 상기 자성체(250)는 구동 자화수단(230) 및 고정 자화수단(240)에 각각 내장되는 것으로 설명하였으나, 이에 한정하는 것은 아니며, 상기 구동 자화수단(230) 및 고정 자화수단(240)의 중앙부에 위치할 수 있도록 구성될 수도 있을 것이다.In addition, the magnetic body 250 has been described as being embedded in the driving magnetization means 230 and the stationary magnetization means 240, respectively, but is not limited thereto, and the driving magnetization means 230 and the stationary magnetization means 240 It may also be configured to be located in the center.
이때, 구동 자화수단(230)에는 제2자성체(254)가 삽입 및 고정될 수 있도록 지지하는 자성체 고정부(236)가 형성되고, 고정 자화수단(240)에는 제1자성체(252)가 삽입되는 자성체 삽입홈(246)이 형성될 수 있을 것이다.At this time, a magnetic body fixing part 236 supporting the second magnetic body 254 to be inserted and fixed is formed in the driving magnetization means 230, and the first magnetic body 252 is inserted into the fixed magnetization means 240. A magnetic material insertion groove 246 may be formed.
이상의 설명은 본 발명의 기술 사상을 예시적으로 설명한 것에 불과한 것으로서, 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자라면 본 발명의 본질적인 특성에서 벗어나지 않는 범위에서 다양한 수정 및 변형이 가능할 것이다. 따라서, 본 발명에 개시된 실시예들은 본 발명의 기술 사상을 한정하기 위한 것이 아니라 설명하기 위한 것이고, 이러한 실시예에 의하여 본 발명의 기술 사상의 범위가 한정되는 것은 아니다. 본 발명의 보호 범위는 아래의 청구범위에 의하여 해석되어야 하며, 그와 동등한 범위 내에 있는 모든 기술 사상은 본 발명의 권리범위에 포함되는 것으로 해석되어야 할 것이다.The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

Claims (14)

  1. 발사 하우징;launch housing;
    드론에 결합되며, 상기 발사 하우징의 X축 방향에 대한 유탄 발사 각도를 조절하는 제1회전 구동부;a first rotation driving unit coupled to the drone and adjusting a grenade firing angle with respect to the X-axis direction of the launch housing;
    양측 내면으로 상기 발사 하우징이 회전 가능하게 연결되고, 상부로 상기 제1회전 구동부가 장착되는 지지 프레임;a support frame to which the firing housing is rotatably connected to inner surfaces of both sides and to which the first rotation driving unit is mounted;
    상기 지지 프레임의 측부에 결합되며, 상기 발사 하우징의 Y축 방향에 대한 유탄 발사 각도를 조절하는 제2회전 구동부;a second rotation driving unit coupled to a side portion of the support frame and adjusting a launch angle of the grenade with respect to the Y-axis direction of the launch housing;
    상기 지지 프레임과 상기 발사 하우징을 연결하고, 상기 발사 하우징의 회전 작동을 가이드 하는 회전 안내 프레임;a rotation guide frame connecting the support frame and the launch housing and guiding rotation of the launch housing;
    상기 제1회전 구동부와 연결되어 회전 작동을 제어하는 상부 반발 제어장치; 및an upper repulsion control device that is connected to the first rotation driving unit and controls a rotational operation; and
    상기 회전 안내 프레임의 측부에 결합되고, 상기 제2회전 구동부의 회전 작동을 제어하는 측부 반발 제어장치를 포함하는 것을 특징으로 하는,Characterized in that it comprises a side repulsion control device coupled to the side of the rotation guide frame and controlling the rotation operation of the second rotation drive unit.
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  2. 제1항에 있어서, 상기 상부 반발 제어장치 또는 측부 반발 제어장치는,The method of claim 1, wherein the upper repulsion control device or the side repulsion control device,
    드론의 제어부의 제어에 따라 자력에 의한 결합이 이루어지면서 상기 제1 및 제2회전 구동부의 회전 작동을 억제시켜 상기 발사 하우징의 반발력을 감소시키는 것을 특징으로 하는,Characterized in that the repulsive force of the launch housing is reduced by suppressing the rotational operation of the first and second rotation drive units while being coupled by magnetic force under the control of the control unit of the drone.
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  3. 제1항에 있어서,According to claim 1,
    상기 상부 반발 제어장치 또는 측부 반발 제어장치는,The upper repulsion control device or the side repulsion control device,
    상기 회전 안내 프레임에 결합되어 축방향으로의 슬라이딩 이동 및 상,하 방향으로의 회전 작동이 이루어지도록 구성되는 제어 지지부재;a control support member coupled to the rotation guide frame and configured to slide in an axial direction and rotate in an up and down direction;
    상기 제어 지지부재의 회전 작동을 지지하는 구동 가이드;a drive guide supporting rotation of the control support member;
    상기 제어 지지부재와 연결되고, 자력에 의한 결합 및 해제가 이루어지도록 제1자성체가 구성되는 구동 자화수단;a driving magnetization means connected to the control support member and having a first magnetic body configured to engage and disengage by magnetic force;
    상기 제어 지지부재가 관통하며, 상기 제어부의 제어에 따라 상기 구동 자화수단측으로 소정의 자력을 발산하는 제2자성체가 구성되는 고정 자화수단;a stationary magnetization means having a second magnetic body through which the control support member passes and dissipating a predetermined magnetic force toward the driving magnetization means according to the control of the control unit;
    상기 구동 자화수단과 고정 자화수단을 고정시켜 반발력에 의해 회전이 이루어지는 것을 방지하는 회전 방지수단을 포함하는 것을 특징으로 하는,Characterized in that it includes a rotation preventing means for preventing rotation by a repulsive force by fixing the driving magnetization means and the stationary magnetization means.
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  4. 제3항에 있어서,According to claim 3,
    상기 제어 지지부재는,The control support member,
    상기 구동 자화수단이 슬라이딩 이동 가능하도록, 상기 구동 자화수단을 관통하도록 구성되는 제어축과,a control shaft configured to pass through the driving magnetization means so that the driving magnetization means can slide;
    상기 제어축의 끝단부에 결합되고, 상기 회전 안내 프레임에 삽입되어 상기 제어축과 제2회전 구동부 간의 위치를 동축선상에 위치시키는 회전 안내판으로 구성되는 것을 특징으로 하는,Characterized in that it is composed of a rotation guide plate coupled to the end of the control shaft and inserted into the rotation guide frame to position the position between the control shaft and the second rotation drive unit on a coaxial line.
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  5. 제3항에 있어서,According to claim 3,
    상기 회전 방지수단은,The anti-rotation means,
    상기 제어축에 연결된 구동 자화수단의 외측면 원주면에 등간격으로 구성되는 제1회전 방지수단과,First rotation preventing means configured at equal intervals on the circumferential surface of the outer surface of the driving magnetization means connected to the control shaft;
    상기 고정 자화수단의 내측면 원주면을 따라 구성되는 제2회전 방지수단으로 구성되며,It is composed of a second anti-rotation means formed along the inner circumferential surface of the fixed magnetization means,
    기어 결합 방식으로 결합이 이루어지도록 구성되는 것을 특징으로 하는 드론의 유탄 발사 반발 제어장치.A grenade firing repulsion control device for a drone, characterized in that the combination is configured in a gear coupling method.
  6. 제5항에 있어서,According to claim 5,
    상기 구동 자화수단 및 고정 자화수단 사이에 소정의 탄성력을 제공하는 탄성체; 및an elastic body providing a predetermined elastic force between the drive magnetization means and the stationary magnetization means; and
    상기 탄성체의 이탈을 방지하는 이탈방지 브라켓을 더 포함하되,Further comprising a separation prevention bracket for preventing separation of the elastic body,
    상기 탄성체의 양단부가 고정될 수 있도록 탄성체 수용홈 및 탄성체 삽입홈이 상기 구동 자화수단 및 상기 고정 자화수단 각각에 형성되는 것을 특징으로 하는,Characterized in that an elastic body receiving groove and an elastic body insertion groove are formed in each of the drive magnetization means and the fixed magnetization means so that both ends of the elastic body can be fixed.
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  7. 제5항에 있어서,According to claim 5,
    상기 제어축은,The control axis is
    끝단부에 연장 형성되는 연장 제어축과,An extension control shaft extending from the end portion;
    상기 연장 제어축을 감싸도록 구성되고, 상기 구동 자화수단과 결합되어 상기 연장 제어축의 외주면을 따라 회전 작동이 이루어지도록 구성되는 서브 제어축;a sub control shaft configured to surround the extension control shaft and coupled to the drive magnetizing means to rotate along an outer circumferential surface of the extension control shaft;
    상기 구동 자화수단와 결합된 상태를 유지하도록 구성되고, 상기 제어부의 제어에 따라 회전 작동이 이루어질 수 있도록 끝단부 외주면에 구비되는 회전 제어수단;a rotation control means provided on an outer circumferential surface of an end portion configured to maintain a coupled state with the drive magnetization means and to perform a rotation operation under the control of the control unit;
    상기 구동 자화수단과 고정 자화수단에 각각 구성되며, 상기 제1회전 방지수단의 위치 정보를 수신받아 상기 제어부로 전송하는 센서모듈; 및a sensor module configured in each of the driving magnetization means and the stationary magnetization means to receive position information of the first rotation prevention means and transmit the received position information to the control unit; and
    상기 연장 제어축의 단부가 결합되며, 상기 연장 제어축을 회전 안내판에 연결하는 제어축 회전 브라켓을 포함하는 것을 특징으로 하는,Characterized in that it includes a control shaft rotation bracket coupled to an end of the extension control shaft and connecting the extension control shaft to a rotation guide plate.
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  8. 제7항에 있어서,According to claim 7,
    상기 센서모듈은,The sensor module,
    상기 구동 자화수단에 결합되며, 상기 제1회전 방지수단의 위치 정보를 전송하는 발신모듈; 및a transmitting module coupled to the driving magnetization means and transmitting location information of the first rotation preventing means; and
    상기 제2회전 방지수단의 하부에 구성되며, 상기 발신모듈로부터 전송되는 위치 정보를 수신받아 상기 제어부로 전송하는 수신모듈을 포함하는 것을 특징으로 하는,Characterized in that it comprises a receiving module configured under the second rotation preventing means and receiving the location information transmitted from the sending module and transmitting it to the control unit,
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  9. 제1항에 있어서,According to claim 1,
    상기 지지 프레임은,The support frame,
    상기 제1회전 구동부와 상기 상부 반발 제어장치를 연결하고, 상기 드론과 연결될 수 있도록 각 모서리부에 고정 안내판 및 고정바가 구성되는 상부 고정 프레임;an upper fixing frame connecting the first rotation driving unit and the upper repulsion control device and having a fixing guide plate and a fixing bar at each corner so as to be connected to the drone;
    상부에 상기 상부 반발 제어장치가 장착되며, 이 상부 반발 제어장치의 구동을 지지하는 상측 지지 프레임; 및an upper support frame on which the upper repulsion control device is mounted, and which supports driving of the upper repulsion control device; and
    상기 일측 및 타측부에 각각 측부 반발 제어장치와 제2회전 구동부가 각각서로 대향하는 위치에 회전 가능하게 결합되도록 지지하는 회전 지지 프레임과, 상기 회전 지지 프레임을 상기 상측 지지 프레임에 결합시키는 받침블럭으로 구성되고, 상기 회전 안내 프레임이 연결되는 측부 지지 프레임을 포함하는 것을 특징으로 하는,A rotation support frame for supporting the side repulsion control device and the second rotation driving unit to be rotatably coupled to the one side and the other side, respectively, at opposite positions, and a support block for coupling the rotation support frame to the upper support frame. And characterized in that it comprises a side support frame to which the rotation guide frame is connected.
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  10. 제9항에 있어서,According to claim 9,
    상기 회전 안내 프레임은,The rotation guide frame,
    상기 발사 하우징과 측부 지지 프레임을 연결하는 연결 브라켓;a connection bracket connecting the launch housing and the side support frame;
    상기 연결 브라켓의 내부에 삽입되며, 유탄 발사시 발생하는 충격이 측부 프레임측으로 전달되는 것을 최소화하는 연결블럭; 및a connection block inserted into the connection bracket and minimizing transmission of impact generated when a grenade is fired to the side frame; and
    상기 연결블럭에 구성되며, 상기 측부 반발 제어장치의 축방향 이동 및 상,하 회전 작동이 이루어지도록 지지하는 작동 지지홈으로 구성되는 것을 특징으로 하는,Characterized in that it is composed of an operation support groove configured in the connection block and supporting the axial movement and up and down rotation operation of the side repulsion control device.
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  11. 발사 하우징;launch housing;
    드론에 결합되며, 상기 발사 하우징의 X축 방향에 대한 유탄 발사 각도를 조절하는 제1회전 구동부;a first rotation driving unit coupled to the drone and adjusting a grenade firing angle with respect to the X-axis direction of the launch housing;
    양측 내면으로 상기 발사 하우징이 회동 가능하게 연결되고, 상부로 상기 제1회전 구동부가 장착되는 지지 프레임;a support frame to which the firing housing is rotatably connected to inner surfaces of both sides and to which the first rotation driving unit is mounted;
    상기 지지 프레임의 일측부에 결합되며, 상기 발사 하우징의 Y축 방향에 대한 유탄 발사 각도를 조절하는 제2회전 구동부; 및a second rotation driving unit coupled to one side of the support frame and adjusting a launch angle of the grenade with respect to the Y-axis direction of the launch housing; and
    상기 지지 프레임의 타측부에 결합되고, 상기 제2회전 구동부의 회전 작동을 제어하는 측부 반발 제어장치를 포함하되,A side repulsion control device coupled to the other side of the support frame and controlling a rotational operation of the second rotation driving unit,
    상기 측부 반발 제어장치와 상기 제2회전 구동부가 각각 서로 대향하는 위치에 회전 가능하게 결합되는 것을 특징으로 하는,Characterized in that the side repulsion control device and the second rotation driving unit are rotatably coupled to positions facing each other, respectively.
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  12. 제11항에 있어서, 상기 측부 반발 제어장치는,The method of claim 11, wherein the side repulsion control device,
    드론의 제어부의 제어에 따라 자력에 의한 결합이 이루어지면서 상기 제1 및 제2회전 구동부의 회전 작동을 억제시켜 상기 발사 하우징의 반발력을 감소시키는 것을 특징으로 하는,Characterized in that the repulsive force of the launch housing is reduced by suppressing the rotational operation of the first and second rotation drive units while being coupled by magnetic force under the control of the control unit of the drone.
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  13. 제11항에 있어서, 상기 지지 프레임은,The method of claim 11, wherein the support frame,
    상부에 상기 상부 반발 제어장치가 장착되며, 이 상부 반발 제어장치의 구동을 지지하는 상측 지지 프레임; 및an upper support frame on which the upper repulsion control device is mounted, and which supports driving of the upper repulsion control device; and
    상기 상측 지지 프레임의 일측 및 타측부에 각각 상기 측부 반발 제어장치와 상기 제2회전 구동부가 각각 서로 대향하는 위치에 회전 가능하게 결합되도록 지지하는 측부 지지 프레임을 포함하는 것을 특징으로 하는,Characterized in that it comprises a side support frame supporting the side repulsion control device and the second rotation driving unit to be rotatably coupled to each other at one side and the other side of the upper support frame, respectively.
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
  14. 제11항에 있어서,According to claim 11,
    상기 제1회전 구동부와 연결되어 회전 작동을 제어하는 상부 반발 제어장치를 더 포함하는 것을 특징으로 하는,Characterized in that it further comprises an upper repulsion control device connected to the first rotation driving unit to control the rotation operation,
    드론의 유탄 발사 반발 제어장치.Drone's grenade launch repulsion control device.
PCT/KR2021/017688 2021-07-20 2021-11-29 Apparatus for drone for controlling recoil from grenade launch WO2023003099A1 (en)

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