KR101807082B1 - Drone which can move on ground and rise by itself - Google Patents

Abstract

The present invention relates to a main frame having a rolling member; A subframe swingably installed on the main frame; A rotor installed in the subframe; And a control unit for converting the polarity of the current supplied to the rotor so that the direction of rotation of the rotor is changed so that the rolling member rolls by the ground or causes the rolling member to rise above the ground, Thereby providing a magnetic force-increasing drones.

Description

BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a drone,

The present invention relates to a drones driven by radio control.

Generally, a drone is a generic term for an unmanned aerial vehicle (UAV) or a helicopter-type aeronautical vehicle (UAV) capable of flying and steerable by induction of radio waves without a pilot.

The drones are used for military purposes, as targets for practice shooting, or for reconnaissance, surveillance and anti-submarine attacks. Before and after the 2010 period, it has been used in various civilian and military applications.

In the structure of the drone, a rotor is often protruded from the body in many cases. The rotor is a structure that generates propulsive force causing the body to float into the air, and mainly employs a propeller. Therefore, the rotor can not be located in the body but protrudes to the outside.

The presence of such a rotor is a factor that occupies a large space in carrying and storing the drones. Since the rotor protrudes to the outside, it is likely to be damaged by interference with surrounding objects.

Further, the drones fly up from the ground, and there is a problem that the movement from the ground is not smooth.

It is an object of the present invention to provide a dron capable of ground movement and magnetic force elevation, in which the rotor is folded during carrying and storage, and then raised to the operating position by magnetic force during operation.

Another object of the present invention is to provide a ground moving and magnetically-assisted dron which enables the rotor to move horizontally in the ground in a folded state.

According to an aspect of the present invention, there is provided a dron capable of moving a ground and a magnetic force, comprising: a main frame having a rolling member; A subframe swingably installed on the main frame; A rotor installed in the subframe; And a control unit for converting the polarity of the current supplied to the rotor so that the rotation direction of the rotor is changed to cause the rolling member to roll by the ground or cause the rolling member to rise above the ground.

Wherein the main frame includes an upper frame and a side frame, the sub frame being swingably coupled to the upper frame such that the swing between a first state parallel to the side frame and a second state parallel to the upper frame, Lt; / RTI >

Here, the side frame may be configured to define a receiving space, and the subframe may be located in the receiving space in the first state.

Here, the side frames may be provided in a plurality of, and the sub frames may be provided in a plurality of corresponding to the plurality of side frames.

Here, the subframe is composed of four, and the rotor is provided in four corresponding to the four subframes, and the four rotors include a pair of positive pitch props and a pair of reverse pitch probes .

Here, the rolling member may include: a holder installed on a bottom surface of the main frame; And a cloud ball rotatably installed in the holder.

Here, the fixing module may further include a fixing module for fixing the subframe to the side frame as the subframe swings from the second state to the first state.

Here, the fixing module may include: a metal piece installed on the side frame; And a magnet installed in the subframe and corresponding to the metal piece.

The fixing module may further include an elastic body provided on the side frame and elastically supporting the metal piece.

According to the present invention, the rotor can be folded at the time of carrying and storing, and can be raised to the operating position by the magnetic force at the time of operation.

Thereby, the volume of the drone can be minimized when carrying and storing. In addition, the possibility that the rotor is broken due to protrusion to the outside can be reduced.

In addition, the drone is allowed to horizontally move on the ground in the folded state of the rotor.

FIG. 1 is a perspective view showing a first state of a ground moving and magnetic force-increasing drones 100 according to an embodiment of the present invention.
FIG. 2 is a perspective view showing a state where the ground moving and magnetic force-increasing drones 100 of FIG. 1 are switched to the second state.
FIG. 3 is an exploded perspective view of the drones 100 of FIG. 1 capable of ground movement and magnetic force elevation.
FIG. 4 is a perspective view of the drones 100 of FIG.
5 is a block diagram relating to control of the drones 100 capable of ground movement and magnetic force elevation of Fig.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a ground moving and magnetic force capable dron according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the present specification, the same or similar reference numerals are given to different embodiments in the same or similar configurations.

FIG. 1 is a perspective view showing a first state of the ground moving and magnetic force-increasing drones 100 according to an embodiment of the present invention, FIG. 2 is a perspective view of the drones 100, As shown in FIG.

Referring to these drawings, a ground moving and magnetic force-capable dron 100 may have a main frame 110, a sub frame 130, a rotor 150, and a fixing module 170.

The main frame 110 is a skeleton structure of the drones 100. The main frame 110 may have an upper frame 111 and a side frame 121.

The upper frame 111 is a portion occupying the upper area of the main frame 110. The upper frame 111 may specifically have an upper rod 112, an upper corner member 113, a mounting board 115, and a top stopper 117. Here, the upper rod 112, the upper corner member 113, the mounting board 115 and the like are made of carbon fiber and can have a sufficient strength even though they are lightweight.

And the upper rod 112 is arranged to form a boundary line of the upper region. The upper rod 112 may be constructed in the form of a pipe. In this embodiment, since the upper frame 111 has a generally quadrangular shape, a total of four upper rods 112 are provided.

The upper corner member 113 is located at a corner of the upper frame 111 to connect the adjacent upper rods 112. In the present embodiment, the upper corner member 113 is also provided with a total of four corresponding to the four upper rods 112 in total.

The mounting board 115 is a plate coupled to the upper corner member 113. The mounting board 115 may be located within an area defined by the four upper rods 112. A battery for driving the rotor 150, a control board, a communicator (not shown), and the like may be mounted on the bottom surface of the mounting board 115.

The upper stopper 117 limits the rotation of the sub-frame 130. [ For this purpose, the upper stopper 117 may be a portion protruding from the end of the mounting board 115. [ By the upper stopper 117, the subframe 130 is no longer swung counterclockwise in the drawing in the second state (see Fig. 2).

The side frame 121 occupies a side area of the main frame 110. The side frame 121 may have a first side rod 122, a second side rod 123, and a side corner member 125 in detail. Here, the first side rod 122, the second side rod 123, and the side corner member 125 are made of carbon fiber, and can have a light and sufficient strength. In addition, the side frame 121 may be formed to have a polygonal shape. In this embodiment, the side frame 121 is configured to form four sides.

The first side load 122 may be disposed along, for example, a perpendicular direction, which intersects the direction of arrangement of the upper rods 112. The first side load 122 may have the shape of a pipe as well as the upper rod 112. The upper end of the first side rod 122 may be connected to the upper corner member 113. The first side rod 122 may be provided in total of four corresponding to the four upper corner members 113 in total.

The second side rods 123 may be disposed along a direction perpendicular to the direction of arrangement of the first side rods 122, for example, a vertical direction. Thereby, the second side rod 123 can be arranged in parallel with the upper rod 112. The second side load 123 may also be provided in total of four, corresponding to a total of four upper rods 112. The second side rod 123 may have a pipe shape as with the first side rod 122.

The side corner member 125 is configured to connect the first side rod 122 and the second side rod 123 together. The side corner member 125 may have a generally similar configuration to the upper corner member 113.

The space defined by the first side rod 122, the second side rod 123, and the side corner member 125 can be referred to as a receiving space A. [ In the present embodiment, the accommodation space A may be formed as an open region or a closed recessed region.

The subframe 130 is swingably mounted on the main frame 110, specifically, the upper rod 112 along the swing direction S. Thereby, the swing axis of the sub-frame 130 follows the upper rod 112. The subframe 130 may be swung between a first state (see FIG. 1) parallel to the side frame 121 and a second state (see FIG. 2) parallel to the upper frame 111.

The sub-frames 130 may be provided in a plurality of corresponding to the plurality of side frames 121, respectively. Each sub-frame 130 is located in the receiving space A of each side frame 121 in the first state.

Specifically, the subframe 130 may have a base 131, a duct 133, a mount 135, and a connecting rod 137.

The base 131 is a portion connected to the upper rod 112. Specifically, the base 131 may have a rotary tube 131a for rotatably receiving the upper rod 112. [ Here, the rotating tubes 131a may be provided as a pair of spaced apart from each other.

The duct 133 is a tubular body connected to the base 131. The duct 133 may have a shape in which the cross-sectional area becomes narrower toward the downstream of the rotor 150. The edge 133a of the duct 133 serves to catch the first side rod 122 so that the subframe 130 is no longer rotated clockwise in the drawing in the first state. Therefore, the edge 133a can be referred to as a side stopper, corresponding to the upper stopper 117. [ The side stopper may be partially protruded from the duct 133 like the upper stopper 117.

The mounting base 135 is a member which is located in the duct 133 and in which the rotor 150 is installed. Mounting base 135 may have a generally disc shape.

The connecting rod 137 is a portion connecting the mounting rod 135 to the duct 133. The connecting rod 137 may have a reference bar 137a and a reinforcing bar 137b. The reference bar 137a extends from the lower region side of the side frame 121 to the mounting table 135. In contrast, the reinforcing bar 137b extends from the position corresponding to the pair of rotating tubes 131a to the mounting table 135. [ At this time, the reinforcing bars 137b are formed as a pair and thicker than the reference bar 137a.

The rotor 150 is installed in the subframe 130, specifically, the mounting table 135. The rotor 150 may be installed in each of four subframes 130. The rotor 150 is generally located in the receiving space A in the first state.

The fixing module 170 fixes the subframe 130 to the side frame 121 when the subframe 130 is downwardly swung from the second state to the first state. The fixing module 170 may have a metal piece 171, a magnet 173, an elastic body 175, and a housing 177.

The metal piece 171 may be installed on the second side rod 123 and exposed to the outside.

The magnet 173 may be installed on the bottom surface of the duct 133 in correspondence with the metal piece 171.

The elastic body 175 is provided on the second side rod 123 to elastically support the metal piece 171.

The housing 177 is installed in the second side rod 123, and the elastic body 175 is built in, and a part of the metal piece 171 can also be built in.

According to this configuration, when power is applied to the rotor 150, the rotor 150 generates a thrust force in the direction from the center of the main frame 110 to the outside. The thrust causes the subframe 130 to swing in the swinging direction S about the upper rod 112 so that the subframe 130 and the rotor 150 are switched to the second state. Accordingly, the rise of the rotor 150 can be said to be achieved by the self-power.

At this time, while the sub-frame 130 is swinging in the swing direction S, the base 131 of the sub-frame 130 is caught by the upper stopper 117). This prevents the subframe 130 from swinging beyond the second state.

As the rotor 150 continues to operate, the wake that has passed through the rotor 150 is discharged in the direction from the air toward the ground. This provides a driving force for the drones 100 to rise. As a result, the drones 100 fly into the air.

When power supply to the rotor 150 is terminated, the rotor 150 and the sub-frame 130 are down-swung due to their own weight. At this time, as the magnets 173 provided on the duct 133 are brought close to the metal pieces 171 provided on the second side rod 123, a magnetic coupling force is generated between them. Thereby, the sub-frame 130 and the rotor 150 are stably maintained in the first state in which they are located in the accommodation space A.

Since the metal piece 171 is supported by the elastic body 175 in the process of coupling the duct 133 to the second side rod 123, the impact of the duct 133 on the metal piece 171 is absorbed. Thereby, the possibility that the duct 133 is impacted on the second side rod 123 and the second side rod 123 or the duct 133 is broken is minimized. The elastic members 175 and the metal pieces 171 are accommodated in the housing 177 so that they can be installed in the second side rod 123 as one unit.

Further, while the sub-frame 130 is being down-swung, the side stopper 133a of the duct 133 is caught by the first side rod 122. This prevents the subframe 130 from swinging beyond the first state.

The disassembly and assembly process of the ground moving and magnetic force-increasing drones 100 will be described with reference to FIG.

FIG. 3 is an exploded perspective view of the drones 100 of FIG. 1 capable of ground movement and magnetic force elevation.

Referring to this figure, the main frame 110 may be divided into an upper frame 111 and a side frame 121.

The upper frame 111 can again be disassembled into four upper rods 112, four upper corner members 113, and one mounting board 115 again.

The upper corner member 113 is formed with two upper insertion holes 113a into which two adjacent upper rods 112 are inserted. The two upper insertion holes 113a may be disposed in a plane parallel to the mounting board 115. [ The upper corner member 113 may also have a side insertion hole 113b into which the first side rod 122 is inserted. The side insertion holes 113b may be arranged in a direction perpendicular to the plane formed by the two upper insertion holes 113a.

An engaging projection 113c may be formed on the upper surface of the upper corner member 113. In the mounting board 115, a coupling groove 115a may be formed corresponding to the coupling projection 113c.

The configuration of the side corner member 125 is substantially the same as the configuration of the upper corner member 113. A detailed description of the side corner member 125 will be omitted.

The rotor 150 may have a prop 151 and a motor 153. Here, the number of the probes 151 may be four. At this time, two out of four can be combined so as to have a constant pitch (direction), and the other two to have an inverse pitch (direction). Thereby, it is possible to balance by the rotation of the four props 151.

According to this configuration, the upper rod 112 is fitted into the upper insertion hole 113a of the upper corner member 113, and is engaged with the upper corner member 113. One end of the first side rod 122 is fitted in the side insertion hole 113b of the upper corner member 113 and joined to the upper corner member 113. [

The other end of the first side rod 122 is fitted to the side corner member 125. The second side rod 123 is also fitted to the side corner member 125.

The mounting board 115 is coupled to the upper corner member 113 by being fastened to the coupling grooves 115a in a state where the mounting board 115 is mounted on the four upper corner members 113 .

This completes assembly of the main frame 110. The assembly process is done by a simple fitting method, so no tools are required.

In order to assemble the subframe 130 to the main frame 110, the upper rod 112 may be inserted into the rotary tube 131a before the upper rod 112 is fitted into the upper corner member 113. [

The rotor 150 is mounted on the mounting base 135 of the subframe 130.

Next, a configuration for horizontally moving the drones 100 will be described with reference to Figs. 4 and 5. Fig.

FIG. 4 is a perspective view of the drones 100 of FIG.

Referring to this figure, the main frame 110 may further have a rolling member 127. The rolling member 127 is configured so that when the drone 100 horizontally moves on the ground, it comes into contact with the ground and rolls against the ground.

The rolling member 127 may have a holder 127a and a rolling ball 127b. The holder 127a may be attached to the bottom surface of the side corner member 125. [ The rolling ball 127b is a ball which is accommodated in the holder 127a and rolls in contact with the ground.

5 is a block diagram relating to control of the drones 100 capable of ground movement and magnetic force elevation of Fig.

Referring to the drawings, the drones 100 may further have a control unit 190, a signal receiving unit 191, and a battery 195. [

The control unit 190 is a configuration that takes charge of the overall control of the signal receiving unit 191, the battery 195, and the rotor 150.

The signal receiving unit 191 receives the mode signal from the remote controller operated by the user of the drones 100. [

The battery 195 is a configuration for storing a current for supplying a DC current to the rotor 150, specifically, the motor 153 (Fig. 3).

According to this configuration, the control unit 190 receives the mode signal corresponding to one of the two operation modes from the signal receiving unit 191. This is because the user manipulates the remote controller to transmit any one of the signals to the signal receiving unit 191.

If any one of the above signals is a rising mode signal, the control unit 190 causes the current of the battery 195 to be supplied to the motor 153 of the rotor 150 in a set state. Thereby, the thrust of the motor 153 is generated in the direction toward the center of the main frame 110. This allows the subframe 130 to swing in the upward direction (see FIG. 2), allowing the drones 100 to float.

If any one of the signals is the ground motion mode signal, the control unit 190 causes the current of the battery 195 to be supplied to the motor 153 with the polarity opposite to the set state. Thereby, the thrust of the motor 153 is generated in a direction away from the center of the main frame 110. This allows the subframe 130 to attach to the mainframe 110 (see FIG. 1), allowing the drones 100 to move horizontally on the ground.

When the user operates the remote controller to input the direction of the horizontal movement, the control unit 190 receives the direction signal through the signal receiving unit 191. [ In response to the direction signal, the control unit 190 can stop the current supply to any one of the four rotors 150 and change the moving direction of the drones 100. [

The ground moving and magnetic force-increasing drones as described above are not limited to the configuration and operation of the embodiments described above. The embodiments may be configured so that all or some of the embodiments may be selectively combined so that various modifications may be made.

100: ground moving and magnetic force-increasing drones 110: main frame
111: upper frame 112: upper rod
113: upper corner member 115: mounting board
121: side frame 122: first side load
123: second side rod 125: side corner member
127: rolling member 130: subframe
131: Base 133: Duct
135: mounting base 150: rotor
170: fixed module 171: metal piece
173: Magnet 175: Elastic body
177: Housing

Claims (9)

A main frame having a rolling member;
A plurality of subframes swung with respect to the main frame and positioned in any one of a first state and a second state;
A plurality of rotors respectively installed in the subframe; And
A control unit for controlling a rotating direction of the rotor; / RTI >
Wherein the control unit converts the polarity of the current supplied to the rotor so that the subframe swings with respect to the main frame from the second state or the second state to the first state in the first state, Drains that can change the direction of rotation and move up the ground and raise magnetic force.
delete The method according to claim 1,
A receiving space is defined by the main frame,
Wherein the subframe is located in the accommodating space in the first state, wherein the subframe is capable of ground movement and magnetic force elevation.
The method according to claim 1,
The main frame includes:
An upper frame defining an upper surface appearance; And
A plurality of side frames coupled to the upper frame; / RTI >
Wherein the subframe is provided in a plurality of slots so as to correspond to the plurality of side frames, respectively.
5. The method of claim 4,
The side frames and the sub-frames are each composed of four,
The rotor is composed of four corresponding to the four sub-frames,
Wherein the four rotors include a pair of positive pitch props and a pair of reverse pitch props.
The method according to claim 1,
Wherein,
A holder installed on a bottom surface of the main frame; And
And a rolling ball rotatably installed in the holder.
The method according to claim 1,
Wherein the control unit controls the direction of movement on the ground by separately controlling the rotation and the direction of rotation of the rotor in a state where the subframe is located in the first state.
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