WO2023101045A1

WO2023101045A1 - Mission equipment-mounted apparatus

Info

Publication number: WO2023101045A1
Application number: PCT/KR2021/018033
Authority: WO
Inventors: 정우영; 김윤영; 손병규
Original assignee: (주)니어스랩
Priority date: 2021-12-01
Filing date: 2021-12-01
Publication date: 2023-06-08

Abstract

The present invention relates to a mission equipment-mounted apparatus. The mission equipment-mounted apparatus comprises: a first damping assembly connected to a first surface of a drone body; a second damping assembly connected to a second surface of the drone body, the second surface being connected to the first surface; a mount plate which is connected to the first damping assembly and the second damping assembly and to which mission equipment is mounted; and a gimbal motor which is connected to the mount plate and adjusts the mount plate to maintain the level thereof.

Description

mission equipment mounting device

The present invention relates to a mission equipment mounting device. Specifically, the present invention describes a mission equipment mounting device that enables the installation of mission equipment in a commercial drone.

In general, large structures such as buildings or wind power generators are naturally or artificially damaged such as cracks as they age. If damage to a large structure is not maintained/managed in a timely manner, the damage may further intensify and cause deformation or collapse of the entire structure. Therefore, in managing the structure, it is very important to periodically diagnose and manage the safety of the structure before deformation or collapse of the entire structure occurs.

However, in the case of large structures, it is very difficult to perform safety diagnosis by manpower due to limitations in accessibility and time/economic costs. Accordingly, in recent years, in order to perform safety diagnosis on large structures, development of vision recognition systems using drones has been actively conducted.

However, drones equipped with a vision recognition system for detecting structure damage are very expensive, and mission equipment (e.g., imaging device or lidar sensor) is not standardized, so each manufacturer has different specifications and mission equipment is used, and since the drone and mission equipment are integrally manufactured, it is very difficult to use other mission equipment depending on the situation.

In addition, in the conventional drone, mission equipment is mounted on the lower center of the drone so that the center of gravity does not shake. When the mission equipment is mounted on the lower center of the drone, it is possible to easily take pictures of the part lower than the flight altitude of the drone, but it is difficult to take pictures of the part higher than the flight altitude of the drone due to interference with the drone body. .

An object of the present invention is to provide a mission equipment mounting device for mounting desired mission equipment on a commercial drone.

In addition, another object of the present invention is to provide a mission equipment mounting device for mounting mission equipment on the front of a drone so as to freely capture parts higher and lower than the flight altitude of the drone.

In addition, another object of the present invention is to provide a mission equipment mounting device that relatively well maintains the center of gravity of the drone while mounting the mission equipment in front of the drone.

In addition, another object of the present invention is to provide a mission equipment mounting device that minimizes transmission of vibration from the drone body to the mission equipment.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention not mentioned above can be understood by the following description and will be more clearly understood by the examples of the present invention. It will also be readily apparent that the objects and advantages of the present invention may be realized by means of the instrumentalities and combinations indicated in the claims.

Mission equipment mounting device according to some embodiments of the present invention for solving the above problem is a first damping assembly connected to the first surface of the drone body, a second surface connected to the second surface connected to the first surface of the drone body 2 includes a damping assembly, a mount plate connected to the first damping assembly and the second damping assembly, on which the mission equipment is seated, and a gimbal motor connected to the mount plate and adjusting the mount plate to keep it level.

In some embodiments, the first damping assembly may include a first damper including a first elastic body, a first fixing bolt fixing the first damper to the first surface, a first washer between the first damper and the first fixing bolt, and It may include a first guide ring that separates the first damper and the first surface.

In some embodiments, the first damping assembly may include a second damper including a second elastic body, a second fixing bolt fixing the second damper to the first surface, a second washer between the second damper and the second fixing bolt, and It includes a second guide ring separating the second damper and the first surface, and the first damper and the second damper may be spaced apart from each other in the first direction.

In some embodiments, the first damper may be larger than the second damper.

In some embodiments, the first elastic body and the second elastic body may have different elastic forces.

In some embodiments, the second damping assembly may include a third damper including a third elastic body, a third fixing bolt fixing the third damper to the second surface, a third washer between the third damper and the third fixing bolt, and A third guide ring separating the third damper and the second surface may be included.

In some embodiments, the gimbal motor includes a first gimbal motor that is level in a first rotational direction axial with the first direction and a second rotational direction axial with a second direction perpendicular to the first direction. It may include a second gimbal motor that maintains a level.

In some embodiments, a first plate spaced apart from the first surface and connected with the first damping assembly, a second plate spaced apart from the second surface, connected with the second damping assembly, and connected with the gimbal motor, and the first plate And it may further include a L-shaped frame connecting the second plate.

In some embodiments, the L-shaped frame includes a first portion connected to the first plate and a second portion connected to the second plate, and the length of the first portion may be longer than that of the second portion.

In some embodiments, the L-shaped frame may be streamlined.

The mission equipment mounting device according to some embodiments enables a commercial drone to be equipped with desired mission equipment, allowing users to broaden the range of choices for drones and mission equipment.

In addition, the mission equipment mounting device according to some embodiments can freely capture parts higher and lower than the flight altitude of the drone, thereby simplifying the flight path of the drone and reducing time/economic costs.

In addition, the mission equipment mounting device according to some embodiments maintains the center of gravity of the drone relatively well, so that the drone can fly with a sense of stability.

In addition, the mission equipment mounting device according to some embodiments minimizes transmission of vibration from the drone body to the mission equipment, so that the mission equipment performs its mission more stably and effectively.

1 is a view for explaining a drone and mission equipment mounted thereon performing a safety diagnosis of a wind turbine structure.

Figure 2 is a perspective view for explaining a mission equipment mounting device according to some embodiments of the present invention.

3 is an exploded perspective view of a mission equipment mounting device according to some embodiments of the present invention.

4 is a view showing a state in which mission equipment is coupled to a mission equipment mounting device according to some embodiments of the present invention.

5 is a diagram for explaining the operation of the first gimbal motor when the drone body is greatly shaken in the left and right directions.

6 is a diagram for explaining the operation of the second gimbal motor when the drone body is greatly shaken in the vertical direction.

7 is a side view of a mission equipment mounting device according to some embodiments of the present invention.

8 is a side view of a mission equipment mounting device according to some other embodiments of the present invention.

9 is a side view of a mission equipment mounting device according to another embodiment of the present invention.

10 is a side view of a mission equipment mounting device according to another embodiment of the present invention.

Terms or words used in this specification and claims should not be construed as being limited to a general or dictionary meaning. According to the principle that an inventor may define a term or a concept of a word in order to best describe his/her invention, it should be interpreted as meaning and concept consistent with the technical spirit of the present invention. In addition, the embodiments described in this specification and the configurations shown in the drawings are only one embodiment in which the present invention is realized, and do not represent all of the technical spirit of the present invention, so they can be replaced at the time of the present application. It should be understood that there may be many equivalents and variations and applicable examples.

Terms such as first, second, A, and B used in this specification and claims may be used to describe various components, but the components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention. The term 'and/or' includes a combination of a plurality of related recited items or any one of a plurality of related recited items.

Terms used in this specification and claims are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. It should be understood that terms such as "include" or "having" in this application do not exclude in advance the possibility of existence or addition of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification. .

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in this application, it should not be interpreted in an ideal or excessively formal meaning. don't

Referring to FIG. 1 , a wind turbine structure (WT) may include a tower (TW) and blades (BL). The drones DR1 and DR2 performing the safety diagnosis of the wind turbine structure (WT) fly vertically upward with respect to the tower (TW), search for the blades (BL), and check whether there is any damage such as cracks on the blades (BL). can check whether The drones DR1 and DR2 scan all front/back/top/bottom surfaces of the blade BL to determine whether the blade BL is damaged.

In the case of the first drone DR1, mission equipment may be mounted in the lower center area of the first drone DR1. The first drone DR1 can capture a desired area by appropriately changing the angle of the mission equipment. However, since the mission equipment of the first drone DR1 is mounted in the lower center area of the first drone DR1, only an area of the first angle θ1 can be captured due to interference with the drone body. In other words, the mission equipment of the first drone DR1 can relatively freely capture an image in an area lower than the flight altitude of the first drone DR1 by adjusting the angle of the mission equipment. However, even if the angle of the mission equipment of the first drone DR1 is adjusted for an area higher than the flight altitude of the first drone DR1, imaging is possible only within a limited range.

In the case of the second drone DR2, mission equipment may be mounted on the front of the second drone DR2. The second drone DR2 can capture a desired area by appropriately changing the angle of the mission equipment. At this time, since interference with the drone body is minimized by the mission equipment of the second drone DR2, an area corresponding to a second angle θ2 greater than the first angle θ1 can be captured. In other words, relatively free imaging is possible by adjusting the angle of the mission equipment of the second drone DR2 in an area higher or lower than the flight altitude of the second drone DR2.

As described above, in the safety diagnosis of the wind turbine structure WT, all front/rear/top/bottom surfaces of the blades BL are imaged to determine whether the blades BL are damaged.

It is assumed that the safety diagnosis of the wind turbine structure WT is performed using the first drone DR1. First, to diagnose the safety of the wind turbine structure (WT), the movement of the blades (BL) is stopped. Subsequently, the first drone DR1 may capture images of the front, rear, and top surfaces of the blade BL while changing the flight altitude. However, it may be difficult for the first drone DR1 to capture at least a part of the lower surface of the blade BL due to the angle limitation of the mission equipment. Therefore, in the case of using the first drone DR1, the lower surface of the blade BL is partially rotated to adjust the lower surface of the blade BL to face upward, and then the lower surface must be imaged using the first drone DR1 again. . Through the images of the front, back, top, and bottom surfaces of the blade BL captured by the first drone DR1, it is inspected whether damage has occurred to the blade BL.

Next, it is assumed that the safety diagnosis of the wind turbine structure WT is performed using the second drone DR2. Similarly, to diagnose the safety of the wind turbine structure (WT), the movement of the blades (BL) is stopped. Subsequently, images are taken of the front, rear, upper and lower surfaces of the blade BL using the second drone DR2. At this time, since the range in which the second drone DR2 can capture an image is relatively free, it can capture all of the front, back, top, and bottom surfaces of the blade BL without rotating the blade BL. Through the images of the front, back, top, and bottom surfaces of the blade BL captured by the second drone DR2, it is inspected whether damage occurs to the blade BL.

As described above, when the mission equipment uses the first drone (DR1) mounted in the lower center area of the drone, the wind turbine structure (WT) must be additionally operated, so economic/time costs may be additionally incurred. . Therefore, when imaging in all directions of a structure is required, such as a wind turbine structure (WT), it may be more economical/time effective to use a drone with mission equipment mounted on the front.

Drones equipped with integrated mission equipment have the disadvantage of being relatively expensive. In addition, the user needs to use appropriate mission equipment depending on the situation, but in the case of a drone with integrated mission equipment, there is also a disadvantage that it is not easy to replace the mission equipment. The mission equipment mounting device according to some embodiments has the advantage of being able to mount the mission equipment desired by the user on a commercial drone desired by the user. That is, the mission equipment mounting device according to some embodiments of the present invention has the advantage of allowing the user to broaden the range of choices for drones and mission equipment.

Hereinafter, a mission equipment mounting device capable of mounting mission equipment in front of a drone will be described. Using the mission equipment mounting device according to some embodiments, it is possible to select and mount desired mission equipment on a commercial drone. That is, the mission equipment mounting device according to some embodiments may perform a function of connecting the mission equipment and the drone to each other. It will be described in more detail with reference to FIGS. 2 to 10 .

Figure 2 is a perspective view for explaining a mission equipment mounting device according to some embodiments of the present invention. 3 is an exploded perspective view of a mission equipment mounting device according to some embodiments of the present invention.

2 and 3, the mission equipment mounting device according to some embodiments of the present invention includes a first plate 100, a first fixing bolt 101, a first washer 102, a first damper 103 , first guide ring 104, L-shaped frame 105, second plate 106_a, third plate 106_b, second fixing bolt 107, second washer 108, second damper 109 ), second guide ring 110, first gimbal motor 111, U-shaped frame 112, rotation plate 114, second gimbal motor 115, mount plate 116, imaging device coupling part ( 117) and a sensing device coupler 118. The first washer 102 may include a first upper washer 102_a and a first lower washer 102_b. The first damper 103 may include a first upper damper 103_a and a first lower damper 103_b. The second washer 108 may include a second upper washer 108_a and a second lower washer 108_b. The second damper 109 may include a second upper damper 109_a and a second lower damper 109_b.

The first plate 100 may be spaced apart from the drone body BD in the first direction Z. The first plate 100 may have a plate shape extending in the second direction (X) and the third direction (Y). The second direction X may be perpendicular to the first direction Z, and the third direction Y may be perpendicular to the first direction Z and the second direction X, respectively. The first plate 100 may be connected to a vertical damping assembly used to damp vibration generated in the drone body BD in the first direction Z to be transmitted to the mission equipment.

The vertical damping assembly includes a first fixing bolt 101, a first upper washer 102_a, a first upper damper 103_a, a first lower washer 102_b, a first lower damper 103_b and a first guide ring 104 ) may be included.

The first fixing bolt 101 may be used to fasten the vertical damping assembly to the first plate 100 and the drone body BD. The first upper washer 102_a may distribute pressure applied to the first upper damper 103_a due to the fastening of the first fixing bolt 101 . In addition, the first lower washer 102_b may distribute pressure applied to the first lower damper 103_b due to the fastening of the first fixing bolt 101 . The first upper damper 103_a may be disposed between the first plate 100 and the first upper washer 102_a. The first upper damper 103_a may include an elastic body. The first upper damper 103_a may dampen transmission of vibration generated in the drone body BD in the first direction Z to mission equipment through an elastic body. Similarly, the first lower damper 103_b may be disposed between the first plate 100 and the first lower washer 102_b. The first lower damper 103_b may include an elastic body. The first lower damper 103_b may dampen transmission of vibration generated in the drone body BD in the first direction Z to mission equipment through an elastic body.

The first guide ring 104 may be mounted between the drone body BD and the first lower washer 102_b. The first guide ring 104 may be used to separate the first plate 100 from the drone body BD. The first plate 100 and the drone body BD may be spaced apart from each other by the first guide ring 104 . In other words, the first plate 100 and the drone body BD can be connected only through the first guide ring 104 . In other words, vibration generated in the drone body BD can be transmitted to the first plate 100 only through the first guide ring 104 . Therefore, when the first plate 100 is connected through the first guide ring 104 rather than directly connected to the drone body BD, the vibration received by the first plate 100 from the drone body BD is can be reduced In other words, the first guide ring 104 may serve to primarily reduce transmission of vibration from the drone body BD.

The first fixing bolt 101 may pass through a hole inside the first guide ring 104 and be connected to the drone body BD. That is, the first upper damper 103_a and the first upper washer 102_a are disposed on the upper surface of the first plate 100, and the first lower damper 103_b and the first upper damper 103_b are disposed on the lower surface of the first plate 100. 1 lower washer 102_b and the first guide ring 104 may be disposed. The first fixing bolt 101 includes a first upper damper 103_a, a first upper washer 102_a, a first plate 100, a first lower damper 103_b, a first lower washer 102_b and a first guide Through the ring 104, it can be fastened to the drone body (BD).

According to some embodiments, at least a portion of the first plate 100, the first fixing bolt 101, the first upper washer 102_a, the first lower washer 102_b, and the first guide ring 104 are made of carbon material. It may include, but embodiments are not limited thereto.

The second plate 106_a may be spaced apart from the drone body BD in the second direction (X). The second plate 106_a may have a plate shape extending in the first direction (Z) and the third direction (Y). The second plate 106_a may be connected to a horizontal damping assembly used to damp vibration generated in the drone body BD in the second direction X being transmitted to the mission equipment.

The horizontal damping assembly includes a second fixing bolt 107, a second upper washer 108_a, a second upper damper 109_a, a second lower washer 108_b, a second lower damper 109_b, and a second guide ring 110 ) may be included. The second fixing bolt 107, the second upper washer 108_a, the second upper damper 109_a, the second lower washer 108_b, the second lower damper 109_b and the second guide ring 110 are described above Each similar to the first fixing bolt 101, the first upper washer 102_a, the first upper damper 103_a, the first lower washer 102_b, the first lower damper 103_b and the first guide ring 104 Bar, detailed description is omitted for convenience of explanation.

The third plate 106_b may be spaced apart from the second plate 106_a in the second direction (X). The third plate 106_b may include a carbon material, but embodiments are not limited thereto.

The L-shaped frame 105 may be connected to the first plate 100, the second plate 106_a, and the third plate 106_b. For example, one side of the L-shaped frame 105 may be connected to the first plate 100 and the other side may be connected between the second plate 106_a and the third plate 106_b. Although the L-shaped frame 105 is shown as integrally formed in this specification, the embodiments are not limited thereto. The L-shaped frame 105 may connect the first plate 100 to the third plate 106_b. In other words, the first plate 100 to the third plate 106_b may be connected through the L-shaped frame 105 . Accordingly, both the vertical damping assembly connected to the first plate 100 and the horizontal damping assembly connected to the second plate 106_a may be connected. That is, the L-shaped frame 105 connects the vertical damping assembly and the horizontal damping assembly into one, so that an assembly having both a vibration damping effect in the first direction (Z) and a vibration damping effect in the second direction (X) can form

The first gimbal motor 111 may be connected to the third plate 106_b. The first gimbal motor 111 may perform a function of maintaining a level in the first rotational direction R1 with the second direction X as an axis. For example, when acceleration in the first rotational direction R1 is generated in the first gimbal motor 111, the first gimbal motor 111 detects this and operates the motor in the opposite direction to the first rotational direction R1. can make it work. Similarly, when acceleration in the direction opposite to the first rotation direction R1 is generated in the first gimbal motor 111, the first gimbal motor 111 detects this and operates the motor in the first rotation direction R1. can make it As a result, the first gimbal motor 111 may be maintained horizontally in the first rotation direction R1.

The first gimbal motor 111 may be connected to the U-shaped frame 112 . The U-shaped frame 112 may extend in the second direction (X) and the third direction (Y). A second gimbal motor 115 may be connected to one side of the U-shaped frame 112 and a rotation plate 114 may be connected to the other side. The U-shaped frame 112 may be integrally formed or may be formed by assembling a plurality of parts. According to some embodiments, the U-shaped frame 112 may include a carbon material, but the embodiments are not limited thereto.

The rotation plate 114 can freely rotate in the second rotation direction R2 with the third direction Y as an axis. According to some embodiments, the rotating plate 114 may include a carbon material, but the embodiments are not limited thereto.

The second gimbal motor 115 may perform a function of maintaining a level in the second rotation direction R2. For example, when acceleration in the second rotation direction R2 is generated in the second gimbal motor 115, the second gimbal motor 115 detects this and operates the motor in the opposite direction to the second rotation direction R2. can make it work.

The mount plate 116 may include an imaging device coupling portion 117 to which an imaging device is coupled and a sensing device coupling portion 118 to which a sensing device is coupled. For example, the imaging device may include a camera, and the sensing device may include a lidar sensor, but embodiments are not limited thereto. In addition, in the present specification, the mount plate 116 has been described as including both the imaging device coupling portion 117 and the sensing device coupling portion 118, but embodiments are not limited thereto. For example, the mount plate 116 may include only one of the imaging device coupling part 117 and the sensing device coupling part 118 . A person having ordinary knowledge in the technical field of the present invention will be able to select an appropriate device according to the mission performed by the mission equipment and couple it to the mount plate 116 . According to some embodiments, the mount plate 116 may include a carbon material, but the embodiments are not limited thereto.

One side and the other side of the mount plate 116 may be connected to the rotation plate 114 and the second gimbal motor 115, respectively. In other words, the first gimbal motor 111, the U-shaped frame 112, the rotation plate 114, the second gimbal motor 115, and the mount plate 116 may all be connected. That is, when the mission equipment is coupled to the mount plate 116, the mission equipment can be maintained horizontally in the first rotational direction R1 through the first gimbal motor 111, and the second gimbal motor 115 Through this, horizontality in the second rotation direction R2 may be maintained. In addition, since the first gimbal motor 111 is connected to the third plate 106_b, the mission equipment coupled to the mount plate 116 is transferred from the drone body BD due to the vertical damping assembly and the horizontal damping assembly. Vibration in the first direction (Z) and vibration in the second direction (X) can be minimized.

Referring to FIG. 4 , mission equipment may include an imaging device (IM) and a sensing device (SS). The imaging device IM may be coupled to the upper surface of the mount plate 116 . For example, the imaging device IM may be a camera. According to some embodiments, the imaging device IM may detect damage such as a crack in a structure through vision recognition.

The sensing device SS may be coupled to the lower surface of the mount plate 116 . For example, the sensing device SS may be a lidar sensor. According to some embodiments, the sensing device SS may detect the position of the structure and the distance from the structure so that the drone on which the mission equipment is seated does not collide with the structure.

If vibration in the vertical direction is generated in the drone body BD, the elastic bodies included in the first upper damper 103_a and the first lower damper 103_b may dampen the vibration in the vertical direction. Therefore, vibration in the vertical direction transmitted from the drone body BD to the mission equipment can be minimized.

Similarly, when vibration in the horizontal direction is generated in the drone body BD, the elastic bodies included in the second upper damper 109_a and the second lower damper 109_b may dampen the vibration in the horizontal direction. Therefore, vibration in the horizontal direction transmitted from the drone main body (BD) to the mission equipment can be minimized.

Even if the drone equipped with the mission equipment is greatly shaken during flight due to external environmental factors such as strong wind, the first gimbal motor 111 and the second gimbal motor 115 greatly affect the mission performance of the mission equipment. may not affect Further reference is made to FIGS. 5 and 6 for illustrative explanation.

5 is a diagram for explaining the operation of the first gimbal motor when the drone body is greatly shaken in the left and right directions. 6 is a diagram for explaining the operation of the second gimbal motor when the drone body is greatly shaken in the vertical direction.

Referring to FIG. 5 , when the drone body (BD) tilts to the right from the direction of looking at the ground due to internal factors or external environmental factors, the first gimbal motor 111 senses acceleration in the right direction. . At this time, the first gimbal motor 111 operates the motor in the left direction opposite to the direction in which the acceleration is sensed, so that the mission equipment (imaging device (IM) and sensing device (SS)) can be kept level. . Therefore, even when the drone main body is greatly shaken in the left and right directions (eg, in the first rotation direction R1) due to internal factors or external environmental factors, the mission equipment can stably perform the mission.

Referring to FIG. 6, when the drone body BD is tilted downward from the direction facing the ground due to internal factors or external environmental factors, the second gimbal motor 115 senses downward acceleration. do. At this time, the second gimbal motor 115 operates the motor in an upward direction opposite to the direction in which the acceleration is sensed, so that the mission equipment (imaging device (IM) and sensing device (SS)) can be kept level. . Therefore, even when the drone main body is greatly shaken in the vertical direction (eg, the second rotation direction R2) due to internal factors or external environmental factors, the mission equipment can stably perform the mission.

According to some embodiments, the mission equipment mounting device may include a plurality of vertical damping assemblies and a plurality of horizontal damping assemblies. Each of the plurality of vertical damping assemblies and the plurality of horizontal damping assemblies may include dampers (upper dampers and lower dampers) including elastic bodies. In this case, each of the elastic bodies may be all the same, or at least some of them may be different. In other words, the elastic bodies included in the vertical damping assembly and the horizontal damping assembly may have the same size or elastic force or at least partially different from each other. For additional explanation, further reference is made to FIG. 7 .

Referring to FIG. 7 , the vertical damping assembly may include a first damping assembly DA1 and a second damping assembly DA2. Also, the horizontal damping assembly may include a third damping assembly DA3.

The first damping assembly DA1 includes a 1-1 fixing bolt 101_a_1, a 1-1 upper washer 102_a_1, a 1-1 upper damper 103_a_1, a 1-1 lower washer 102_b_1, a first -1 may include a lower damper 103_b_1 and a 1-1 guide ring 104_1. Similarly, the second damping assembly DA2 includes a 1-2 fixing bolt 101_a_2, a 1-2 upper washer 102_a_2, a 1-2 upper damper 103_a_2, and a 1-2 lower washer 102_b_2. ), a 1-2 lower damper 103_b_2 and a 1-2 guide ring 104_2. In addition, the third damping assembly DA3 includes a second fixing bolt 107, a second upper washer 108_a, a second upper damper 109_a, a second lower washer 108_b, a second lower damper 109_b, and A second guide ring 110 may be included.

The 1-1 upper damper 103_a_1 and the 1-1 lower damper 103_b_1 may include a first elastic body. In addition, the 1-2nd upper damper 103_a_2 and the 1-2nd lower damper 103_b_2 may include a second elastic body. In addition, the second upper damper 109_a and the second lower damper 109_b may include a third elastic body.

According to some embodiments, the first to third elastic bodies may be identical to each other. For example, the first to third elastic bodies may have the same elastic force as each other. According to some other embodiments, the first to third elastic bodies may be at least partially different. For example, the elastic force of the first elastic body and the elastic force of the second elastic body may be different from each other. For another example, the first elastic body and the second elastic body may have the same elastic force, and the first elastic body and the third elastic body may have different elastic forces.

In other words, when a person skilled in the art of the present invention designs a mission equipment mounting device, the 1-1 upper damper (103_a_1), the 1-1 lower damper (103_b_1), and the 1-2 upper damper (103_a_2), the 1-2 lower damper (103_b_2), the second upper damper (109_a) and the second lower damper (109_b) according to standards such as the mounting position and vibration generation size, the 1-1 upper damper ( Included in 103_a_1), 1-1st lower damper (103_b_1), 1-2nd upper damper (103_a_2), 1-2nd lower damper (103_b_2), 2nd upper damper (109_a) and 2nd lower damper (109_b) It will be possible to appropriately select the type of elastic body to be.

8 is a side view of a mission equipment mounting device according to some other embodiments of the present invention. For convenience of description, the same or similar content as the above description will be omitted or briefly described.

8, the 1-1 upper damper 103_a_1, the 1-1 lower damper 103_b_1, the 1-2 upper damper 103_a_2, the 1-2 lower damper 103_b_2, the second upper damper The sizes of the (109_a) and the second lower damper 109_b may be all the same, or at least some of them may be different in size. For example, the size of the 1-1 upper damper 103_a_1 and the 1-1 lower damper 103_b_1 may be smaller than the sizes of the 1-2 upper damper 103_a_2 and the 1-2 lower damper 103_b_2 there is.

According to some embodiments, the size of the 1-2 upper damper 103_a_2 and the 1-2 lower damper 103_b_2 connected to the part where more vibration occurs of the drone body BD is the 1-1 upper damper ( 103_a_1) and the 1-1st lower damper 103_b_1. In other words, when a person skilled in the art of the present invention designs a mission equipment mounting device, the 1-1 upper damper (103_a_1), the 1-1 lower damper (103_b_1), and the 1-2 upper damper (103_a_2), the 1-2 lower damper (103_b_2), the second upper damper (109_a) and the second lower damper (109_b) according to standards such as the mounting position and vibration generation size, the 1-1 upper damper ( 103_a_1), the size of the 1-1 lower damper 103_b_1, the 1-2 upper damper 103_a_2, the 1-2 lower damper 103_b_2, the second upper damper 109_a, and the second lower damper 109_b can be selected appropriately.

9 is a side view of a mission equipment mounting device according to another embodiment of the present invention. For convenience of description, the same or similar content as the above description will be omitted or briefly described.

Referring to FIG. 9 , the L-shaped frame 105 may have a streamlined curved shape. When the drone main body (BD) flies, vibration may occur due to air resistance with the drone main body (BD) and external environmental factors such as wind. The mission equipment mounting device according to some embodiments of the present invention includes a streamlined L-shaped frame 105, so that vibration caused by external environmental factors such as air resistance and wind can be minimized. Accordingly, the mission equipment has the advantage of being able to perform missions more stably.

Those skilled in the art may modify the L-shaped frame 105 in various ways in order to minimize external environmental factors such as air resistance and wind. For example, in order to minimize external environmental factors such as air resistance and wind, the L-shaped frame 105 may have grooves through which air may pass.

10 is a side view of a mission equipment mounting device according to another embodiment of the present invention. For convenience of description, the same or similar content as the above description will be omitted or briefly described.

Referring to FIG. 10 , the L-shaped frame 105 may include a first portion 105_p1 extending in a first direction (Z) and a second portion 105_p2 extending in a second direction (X). In this case, the length of the first portion 105_p1 may be shorter than the length of the second portion 105_p2.

When the mission equipment is mounted on the front of the drone body (BD), the center of gravity of the drone equipped with the mission equipment may be concentrated in the front due to structural limitations. In the L-shaped frame 105 according to some embodiments, the length of the second portion 105_p2 extending in the second direction X is longer than that of the first portion 105_p1, so that the center of gravity is relatively rearward. can be dispersed. At this time, since the center of gravity of the drone body BD is dispersed, control of the drone can be more precise, and vibrations generated in the drone body BD can be reduced due to the dispersed center of gravity.

The above description is merely an example of the technical idea of the present embodiment, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical idea of the present embodiment, but to explain, and the scope of the technical idea of the present embodiment is not limited by these embodiments. The scope of protection of this embodiment should be construed according to the claims below, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of rights of this embodiment.

Claims

a first damping assembly connected to a first surface of the drone body;

a second damping assembly connected to a second surface of the drone body connected to the first surface;

a mount plate connected to the first damping assembly and the second damping assembly and on which mission equipment is seated; and

A gimbal motor connected to the mount plate and adjusting the mount plate to remain horizontal,

mission equipment mounts.
According to claim 1,

The first damping assembly,

A first damper including a first elastic body;

a first fixing bolt fixing the first damper to the first surface;

a first washer between the first damper and the first fixing bolt; and

Mission equipment mounting device comprising a first guide ring for separating the first damper and the first surface.
According to claim 2,

The first damping assembly,

A second damper including a second elastic body;

a second fixing bolt fixing the second damper to the first surface;

a second washer between the second damper and the second fixing bolt; and

And a second guide ring separating the second damper and the first surface,

The first damper and the second damper are mission equipment mounting device spaced apart from each other in a first direction.
According to claim 3,

The first damper is a mission equipment mounting device having a larger size than the second damper.
According to claim 3,

The first elastic body and the second elastic body mission equipment mounting device having a different elastic force.
According to claim 2,

The second damping assembly,

a third damper including a third elastic body;

a third fixing bolt fixing the third damper to the second surface;

a third washer between the third damper and the third fixing bolt; and

Mission equipment mounting device including a third guide ring for separating the third damper and the second surface.
According to claim 1,

The gimbal motor,

a first gimbal motor that maintains a level in a first rotational direction with the first direction as an axis; and

A mission equipment mounting device including a second gimbal motor that maintains a level in a second rotational direction having a second direction perpendicular to the first direction as an axis.
According to claim 1,

a first plate spaced apart from the first surface and connected to the first damping assembly;

a second plate spaced apart from the second surface, connected to the second damping assembly, and connected to the gimbal motor; and

Mission equipment mounting device further comprising a L-shaped frame connecting the first plate and the second plate.
According to claim 8,

The L-shaped frame includes a first portion connected to the first plate and a second portion connected to the second plate,

The length of the first portion is longer than the length of the second portion of the mission equipment mounting device.
According to claim 8,

The L-shaped frame is a streamlined mission equipment mounting device.