Propeller control system for airborne maneuvering devices

Abstract

The present invention relates to a propeller control system of an aerial mobile device, including: a driving shaft connected to a driving motor to rotate; a rotating shaft connected to the driving shaft through a first clutch to rotate with the driving shaft according to whether the first clutch is engaged; a fixed part extending from the rotating shaft, having an internal space formed in the fixed part, and forming a shape of a part of a propeller; a moving part disposed to be withdrawn from or inserted into the internal space of the fixed part, and forming a shape of a remaining part of the propeller when withdrawn from the fixed part; a pulley mechanism connected to the driving shaft and connected to the moving part through the fixed part; and a control part configured to determine whether the moving part is inserted or withdrawn, and when the moving part is inserted, control the first clutch to be separated so that the moving part connected to the pulley mechanism is inserted into the fixed part as the driving shaft and the pulley mechanism other than the rotating shaft are rotated by the driving motor.

Description

Technical Field

[0001] The present invention relates to a propeller control system for an air mobility device, and more particularly to a propeller control system that improves storage convenience by reducing the size of the propeller when storing the air mobility device, and is configured to prevent additional accidents caused by propeller scattering in the event of a collision with the air mobility device. Background Technology

[0002] Recently, aerial motor vehicles (or "aerial mobility devices") for various fields such as cargo containers and medical transportation have been under development. The energy efficiency and stability of these aerial mobility devices are being optimized, and they are approaching the commercial stage.

[0003] Airborne maneuvering vehicles fly by driving propellers, and stability in the event of a collision is a fundamental requirement. Therefore, airborne maneuvering vehicles selectively adjust propeller drive to avoid collisions, but there are no safety countermeasures in place for actual collisions involving airborne maneuvering vehicles.

[0004] For example, when an aerial maneuvering device collides, each rotating propeller strikes the ground. The problem is that the rapidly rotating propellers generate debris when they hit the ground, which scatters everywhere and can cause secondary accidents.

[0005] The foregoing background explanation is intended only to help you understand the context of this invention and does not imply that this invention falls within the scope of prior art known to those skilled in the art. Summary of the Invention

[0006] The present invention provides a propeller control system for an airborne maneuvering device, which can improve the convenience of storage by reducing the size of the propeller when storing the airborne maneuvering device, and can prevent additional accidents caused by the propeller scattering when the airborne maneuvering device is involved in a collision.

[0007] The propeller control system of the aerial maneuvering device according to the present invention for achieving this purpose includes: a drive shaft connected to a drive motor for rotation; a rotating shaft connected to the drive shaft via a first clutch for rotation with the drive shaft depending on whether the first clutch is engaged; a fixed portion extending from the rotating shaft, having an internal space formed in the fixed portion, and forming a shape that is part of a propeller; a moving portion configured to be withdrawn from or inserted into the internal space of the fixed portion, and forming a shape that is the remainder of the propeller when withdrawn from the fixed portion; a pulley mechanism connected to the drive shaft and connected to the moving portion via the fixed portion; and a control portion configured to determine whether the moving portion is inserted or withdrawn, and when the moving portion is inserted, controlling the first clutch to disengage such that as the drive shaft (excluding the rotating shaft) and the pulley mechanism rotate via the drive motor, the moving portion connected to the pulley mechanism is inserted into the fixed portion.

[0008] The rotating shaft is rotatably mounted on the aerial maneuvering device, and inside the rotating shaft, there is a pulley mechanism rotatably mounted on the upper side of the rotating shaft, and a drive shaft connected to the pulley mechanism on the lower side of the rotating shaft.

[0009] The first clutch consists of a first clutch plate and a first friction plate disposed on a rotating shaft, wherein the first friction plate is moved by a first driving part mounted on a drive shaft to engage or disengage with the first clutch plate.

[0010] An elastic body is provided in the internal space of the fixed part, and the elastic body is configured to transmit force in the direction of the withdrawal of the moving part.

[0011] The pulley mechanism includes: a pulley portion rotatably mounted on a rotating shaft and connected to a drive shaft; and a wire portion, one end of which is connected to the pulley portion and the other end of which is connected to a movable portion, wherein when the pulley portion rotates, the wire portion winds around the pulley portion, causing the movable portion to be inserted into the fixed portion.

[0012] The propeller control system of the air maneuvering device further includes: a brake, mounted on the air maneuvering device, and in contact with the rotating shaft depending on whether the air maneuvering device is in operation, to limit the rotation of the rotating shaft.

[0013] When the moving part is inserted, the control unit controls the brake to operate, thereby limiting the rotation of the rotating shaft, and controls the first clutch to disengage, so that the moving part is inserted into the fixed part through the pulley mechanism.

[0014] The drive shaft and pulley mechanism are connected by a second clutch, and the drive shaft and pulley mechanism rotate together depending on whether the second clutch is engaged.

[0015] The second clutch consists of a second clutch plate and a second friction plate disposed in the pulley mechanism, wherein the second friction plate is moved by a second drive unit mounted on the drive shaft to engage or disengage with the second clutch plate.

[0016] When the moving part is inserted, the control unit controls the second clutch to engage, causing the drive shaft and pulley mechanism to rotate together.

[0017] When the moving part is pulled out while in the inserted state, the control unit controls the first clutch to engage and the second clutch to disengage, so that the moving part is pulled out under the action of centrifugal force generated by the rotation of the rotating shaft.

[0018] The control unit receives the flight status of the air maneuvering device, and when it determines that the air maneuvering device has collided, it controls the drive motor to run at a preset emergency speed, so that the moving part is inserted.

[0019] When storing the aerial maneuvering device, the control unit controls the drive motor to run at a preset storage speed, causing the moving part to be inserted.

[0020] The fixed part is equipped with a sensor unit configured to confirm the position of the moving part, and when the moving part is inserted or withdrawn by the operation of the drive motor, and when the sensor unit receives the fact that the moving part is fully inserted or withdrawn, the control unit controls the drive motor to stop running.

[0021] The propeller control system of the aerial maneuvering device with the above-described structure inserts the moving part of the propeller into the fixed part in the event of storage or collision, thereby reducing the overall length of the propeller. Therefore, when storing the aerial maneuvering device, its overall size is reduced, facilitating storage, and in the event of a collision, it prevents secondary accidents caused by debris generated from the rotating propeller contacting the ground. Attached Figure Description

[0022] The above and other objects, features, and advantages of the present invention will become more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0023] Figure 1 A diagram showing the propeller of the aerial maneuvering device according to the present invention;

[0024] Figure 2 Show Figure 1 A cross-sectional view of the propeller of the aerial maneuvering device shown;

[0025] Figure 3 A diagram showing the construction of the propeller control system of the aerial maneuvering device according to the present invention;

[0026] Figure 4A diagram showing the first clutch and the second clutch according to the present invention is provided;

[0027] Figure 5 A diagram showing the pulley mechanism and elastomer according to the present invention is provided;

[0028] Figure 6 A diagram is shown to explain the insertion of the moving part; and

[0029] Figure 7 A diagram is shown to explain the removal of the moving part when it is in the insertion state. Detailed Implementation

[0030] It should be understood that the term "vehicle" or "of a vehicle" or other similar terms as used herein generally include motor vehicles, such as passenger cars, including sports utility vehicles (SUVs), buses, trucks, various commercial vehicles, ships, including various boats and vessels, aircraft, etc., and includes hybrid electric vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from resources other than petroleum). As referred to herein, a hybrid electric vehicle is a vehicle with two or more power sources, such as a vehicle powered by both gasoline and electricity.

[0031] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “this,” etc., are intended to also include the plural forms. It should also be further understood that, when used in this specification, the terms “comprising” and / or “including” specify the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items. Throughout the specification, unless explicitly stated otherwise, the word “comprising” and variations thereof shall be understood to imply the inclusion of the stated elements rather than the exclusion of any other elements. Furthermore, the terms “unit” and “module” described in the specification refer to a unit for performing at least one function and operation, and can be implemented by hardware components or software components and combinations thereof.

[0032] Furthermore, the control logic of this invention can be embodied in a non-transitory computer-readable medium containing executable program instructions that are executed by a processor, controller, etc. Examples of computer-readable media include, but are not limited to, ROM, RAM, optical disc (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable medium can also be distributed across a network coupled to a computer system, such that the computer-readable medium is stored and executed in a distributed manner, for example, via a telematics server or a controller area network (CAN).

[0033] In the following description, a propeller control system for an aerial maneuvering device according to a preferred exemplary embodiment of the invention will be described with reference to the accompanying drawings.

[0034] Figure 1 A diagram showing the propeller of the aerial maneuvering device according to the present invention is provided. Figure 2 Show Figure 1 The diagram shows a cross-sectional view of the propeller of an aerial maneuvering device. Figure 3 A diagram showing the construction of the propeller control system of the aerial maneuvering device according to the present invention is provided. Figure 4 A diagram showing the first clutch and the second clutch according to the present invention is provided. Figure 5 A diagram showing the pulley mechanism and elastomer according to the present invention is provided. Figure 6 A diagram is shown to explain the insertion of the moving part, and Figure 7 The diagram illustrates the withdrawal of the moving part when it is in the inserted state.

[0035] like Figures 1 to 3 As shown, the propeller control system of the aerial maneuvering device according to the present invention includes: a drive shaft 100 connected to a drive motor 110 for rotation; a rotation shaft 200 connected to the drive shaft 100 via a first clutch C1 for rotation together with the drive shaft 100 depending on whether the first clutch C1 is engaged; a fixed portion 310 extending from the rotation shaft 200, having an internal space formed in the fixed portion 310, and forming a shape that is part of the propeller; and a moving portion 320 configured to be withdrawn from or inserted into the internal space of the fixed portion 310. In the middle, and when pulled out from the fixed part 310, it forms the shape of the rest of the propeller; the pulley mechanism 400 is connected to the drive shaft 100 and is connected to the moving part 320 through the fixed part 310; and the control part 500 is configured to determine whether the moving part 320 is inserted or withdrawn, and when the moving part 320 is inserted, it controls the first clutch C1 to disengage, so that when the drive shaft 100 (excluding the rotating shaft 200) and the pulley mechanism 400 are rotated by the drive motor 110, the moving part 320 connected to the pulley mechanism 400 is inserted into the fixed part 310.

[0036] The rotating shaft 200 is rotatably mounted on the aerial maneuvering device M, and inside the rotating shaft 200, a pulley mechanism 400 is rotatably mounted on the upper side of the rotating shaft 200, and a drive shaft 100 connected to the pulley mechanism 400 is mounted on the lower side of the rotating shaft 200. Here, the drive motor 110 connected to the drive shaft 100 can be mounted on the side of the aerial maneuvering device M.

[0037] The rotating shaft 200 can be mounted on the main body or wing of the airborne maneuvering device M, and a mounting part M1 for inserting and mounting the rotating shaft 200 can be formed on the airborne maneuvering device M. In addition, a drive motor 110 connected to the drive shaft 100 can be mounted on the side of the airborne maneuvering device M.

[0038] Specifically, the drive shaft 100 and the rotating shaft 200 are connected via a first clutch C1. Therefore, when the first clutch C1 is engaged, the drive shaft 100 and the rotating shaft 200 rotate together under the power of the drive motor 110, and when the first clutch is disengaged, only the drive shaft 100 rotates under the power of the drive motor 110. The operation of the insertion or withdrawal moving part 320 according to the above-described operation will be described again below.

[0039] Simultaneously, the fixed portion 310 extends from the rotation axis 200, and the movable portion 320 is configured to be inserted into or withdrawn from the fixed portion 310. In other words, the fixed portion 310 and the movable portion 320 together form a propeller, and when the movable portion 320 is withdrawn from the interior space of the fixed portion 310, the rotation of the movable portion 320 generates thrust. Furthermore, when the movable portion 320 is inserted into the interior space of the fixed portion 310, the overall length of the propeller decreases.

[0040] Meanwhile, inside the rotating shaft 200, a pulley mechanism 400 is rotatably mounted on the upper side of the rotating shaft 200, and a drive shaft 100 is connected to the pulley mechanism 400 on the lower side of the rotating shaft 200. In particular, the pulley mechanism 400 is connected to the moving part 320, so that when the pulley mechanism 400 rotates together with the drive shaft 100, the moving part 320 can move within the internal space of the fixed part 310 according to the rotational position.

[0041] Therefore, the control unit 500 determines whether the moving part 320 is inserted or withdrawn, and when the moving part 320 is inserted, it controls the first clutch C1 to disengage. Therefore, when the first clutch C1 disengages, the drive shaft 100 and the rotating shaft 200 are disconnected, causing the drive shaft 100 and the pulley mechanism 400 (excluding the rotating shaft 200) to rotate when the drive motor 110 is running. As a result, the moving part 320 connected to the pulley mechanism 400 is inserted into the fixed part 310.

[0042] As described above, in the event of storage or collision of the air maneuvering device M, the movable part 320 forming the propeller is inserted into the fixed part 310, thereby reducing the overall length of the propeller. Therefore, when storing the air maneuvering device M, the overall size of the air maneuvering device is reduced, making it easier to store, and in the event of a collision of the air maneuvering device M, secondary accidents caused by debris generated from the rotating propeller contacting the ground can be prevented.

[0043] like Figure 4 As shown, the first clutch C1 consists of a first clutch plate C1-1 and a first friction plate C1-2 disposed on the rotating shaft 200. The first friction plate C1-2 is moved by a first driving part C1-3 mounted on the drive shaft 100 to engage or disengage with the first clutch plate C1-1.

[0044] Here, each of the first clutch plate C1-1 and the first friction plate C1-2 can be formed by multiple plates to ensure operational performance.

[0045] The first clutch plate C1-1 is disposed on the inner surface of the rotating shaft 200, and the first friction plate C1-2 is mounted to move with the drive shaft 100. In particular, when the first friction plate C1-1 is moved by the first drive part C1-3 mounted on the drive shaft 100, the first friction plate C1-2 selectively engages or disengages from the first clutch plate C1-1.

[0046] Here, the first drive unit C1-3 can be an electric motor, a hydraulic type, or a solenoid type, and the first drive unit C1-3 can be formed by a solenoid to simplify the structure.

[0047] At the same time, such as Figure 2 As shown, the elastic body 330 can be disposed in the internal space of the fixed part 310 and is configured to transmit force in the direction of the withdrawal of the moving part 320.

[0048] The elastic body 330 can be formed of a spring and generate elastic force in the direction in which the moving part 320 is pulled out from the fixed part 310. In addition, the elastic body 330 can be formed of a conical spring with a diameter that gradually decreases in the longitudinal direction, so that the size can be minimized to the maximum extent when the moving part 320 is inserted.

[0049] Therefore, the movable part 320 is held in a state where it is withdrawn from the internal space of the fixed part 310 by the elastic body 330. Furthermore, when the movable part 320 is withdrawn while it is inserted into the fixed part 310, the movable part 320 can be withdrawn under the elastic force of the elastic body 330.

[0050] At the same time, such as Figure 2 and Figure 5As shown, the pulley mechanism 400 includes: a pulley portion 410, which is rotatably mounted on the rotating shaft 200 and connected to the drive shaft 100; and a wire portion 420, one end of which is connected to the pulley portion 410 and the other end of which is connected to the moving portion 320, and when the pulley portion 410 rotates, the moving portion 320 is inserted into the fixed portion 310 by winding around the pulley portion 410.

[0051] As described above, the pulley mechanism 400 consists of a pulley section 410 and a line section 420.

[0052] Specifically, the pulley portion 410 is rotatably mounted on the upper side of the rotating shaft 200 and connected to the drive shaft 100 on the lower side of the rotating shaft 200.

[0053] Therefore, if the first clutch C1 is engaged to connect the drive shaft 100 and the rotating shaft 200, the pulley section 410 will also rotate with the same rotational force as the drive shaft 100 and the rotating shaft 200 rotate together.

[0054] Here, if the first clutch C1 disengages to disconnect the drive shaft 100 from the rotating shaft 200, the pulley section 410 and the drive shaft 100 rotate together in the rotating shaft 200 as the drive shaft 100 (excluding the rotating shaft 200) is rotated by the drive motor 110.

[0055] As described above, when the rotational speeds of the pulley section 410 and the rotating shaft 200 are different, the line section 420 connected to the pulley section 410 performs a winding operation, and the moving section 320 performs the operation of inserting the fixing section 310 by winding the line section 420.

[0056] In other words, one end of the line 420 is connected to the pulley 410 and the other end is connected to the moving part 320. So when the line 420 is wound around the pulley 410 as the pulley 410 rotates, the moving part 320 is pulled to insert it into the fixed part 310.

[0057] Therefore, the insertion operation of the moving part 320 can be performed by the pulley mechanism 400.

[0058] Meanwhile, the air maneuvering device M also includes a brake 600, which is mounted on the air maneuvering device M and contacts the rotating shaft 200 to limit the rotation of the rotating shaft 200 depending on whether the air maneuvering device M is in operation.

[0059] The brake 600 is configured to operate under the control of the control unit 500, and when mounted on the airborne maneuvering device M, it selectively contacts the outer surface of the rotating shaft 200 under the control of the control unit 500.

[0060] Here, the brake 600 can be mounted on the mounting part M1, wherein the rotating shaft 200 is inserted into and mounted on the mounting part M1 in the air maneuvering device M, and the brake can limit the rotation of the rotating shaft 200 by friction.

[0061] Therefore, when the moving part 320 is inserted, the control part 500 controls the brake 600 to operate, thereby limiting the rotation of the rotating shaft 200, and controls the first clutch C1 to disengage, so that the moving part 320 is inserted into the fixed part 310 by the pulley mechanism 400.

[0062] In other words, when the moving part 320 is inserted, the control unit 500 controls the first clutch C1 to disengage, causing the drive shaft 100 and pulley mechanism 400 (excluding the rotating shaft 200) to rotate by the drive motor 110. At this time, if the rotating shaft 200 rotates freely, the insertion operation of the moving part 320 cannot be performed normally even if the pulley mechanism 400 rotates. For example, since the rotating shaft 200 is rotating during flight, the rotation of the pulley mechanism 400 can be absorbed by the rotation of the rotating shaft 200.

[0063] Therefore, when the moving part 320 is inserted, the control unit 500 controls the brake 600 to restrict the rotation of the rotating shaft 200, and controls the first clutch C1 to disengage, so that as the drive shaft 100 and the pulley mechanism 400 (excluding the rotating shaft 200) are rotated by the drive motor 110, the insertion operation of the moving part 320 is normally performed by the pulley mechanism 400.

[0064] At the same time, such as Figure 4 As shown, the drive shaft 100 and the pulley mechanism 400 are connected by a second clutch C2, and the drive shaft 100 and the pulley mechanism 400 can rotate together depending on whether the second clutch C2 is engaged.

[0065] The second clutch C2 is configured for the withdrawal operation of the moving part 320. The second clutch C2 engages such that the drive shaft 100 and the pulley mechanism 400 normally and rotate together when the moving part 320 is inserted, and the second clutch C2 disengages such that the drive shaft 100 and the pulley mechanism 400 rotate separately when the moving part 320 is withdrawn.

[0066] Specifically, the second clutch C2 consists of a second clutch plate C2-1 and a second friction plate C2-2 disposed in the pulley mechanism 400. The second friction plate C2-2 is moved by a second drive part C2-3 mounted on the drive shaft 100 to engage or disengage with the second clutch plate C2-1.

[0067] Here, each of the second clutch plate C2-1 and the second friction plate C2-2 can be formed by multiple plates to ensure operational performance.

[0068] The second clutch plate C2-1 is disposed in the pulley portion 410 of the pulley mechanism 400, and the second friction plate C2-2 is movably mounted. In particular, when the second friction plate C2-2 is moved by the second drive portion C2-3 mounted on the drive shaft 100, the second friction plate C2-2 selectively engages or disengages from the second clutch plate C2-1.

[0069] Here, the second drive unit C2-3 can be an electric motor, a hydraulic type, or a solenoid type, and the second drive unit C2-3 can be composed of a solenoid to simplify the structure.

[0070] Therefore, when the moving part 320 is inserted, the control part 500 controls the second clutch C2 to engage, causing the drive shaft 100 and the pulley structure 400 to rotate together.

[0071] In other words, when the movable part 320 is inserted, the control unit 500 controls the second clutch C2 to engage, causing the drive shaft 100 (excluding the rotating shaft 200) and the pulley structure 400 to rotate via the drive motor 110. Therefore, the movable part 320 can be inserted by rotating the pulley structure 400.

[0072] Here, the control unit 500 typically controls the engagement of the first clutch C1 and the second clutch C2, so that the drive shaft 100, the rotating shaft 200 and the pulley structure 400 all rotate simultaneously via the drive motor 110 to achieve normal flight.

[0073] Meanwhile, when the moving part 320 is pulled out in the inserted state, the control unit 500 controls the first clutch C1 to engage and the second clutch C2 to disengage, so that the centrifugal force generated by the rotation of the rotating shaft 200 pulls out the moving part 320.

[0074] In other words, when the moving part 320 is pulled out, the drive shaft 100 and the rotating shaft 200 rotate together via the drive motor 110 when the first clutch C1 is engaged, and the pulley mechanism 400 rotates freely when the second clutch C2 is disengaged.

[0075] Therefore, with the movable part 320 inserted into the fixed part 310, when the first clutch C1 is engaged and the second clutch C2 is disengaged, the pulley mechanism 400 rotates freely, and the centrifugal force generated by the rotation of the rotating shaft 200 pulls the movable part 320 out. Furthermore, when the pulley mechanism 400 rotates freely, the movable part 320 can also be pulled out by the elastic force of the elastic body 330 provided on the fixed part 310.

[0076] At the same time, the control unit 500 receives the flight status of the airborne maneuvering device M, and when it is determined that the airborne maneuvering device M has collided, it controls the drive motor 110 to run at a preset emergency speed, thereby inserting the moving part 320.

[0077] In other words, the control unit 500 can determine whether the aerial maneuvering device M has collided based on the descent speed of the aerial maneuvering device M and the attitude information of the aerial maneuvering device M. If it is determined that the aerial maneuvering device M has collided, the control unit 500 controls the drive motor 110 to run at a preset emergency speed while the first clutch C1 is disengaged.

[0078] Therefore, when the drive shaft 100 (excluding the rotating shaft 200) and the pulley mechanism 400 are rotated by the drive motor 110, the moving part 320 can be inserted into the fixed part 310 by the rotation of the pulley mechanism 400.

[0079] Specifically, since the rapid insertion operation of the moving unit 320 should be performed in the event of a collision with the aerial maneuvering device M, the control unit 500 controls the drive motor 110 to operate at a preset emergency speed. Therefore, the insertion operation of the moving unit 320 can be performed quickly.

[0080] Here, a preset emergency speed can be set in the control unit 500, so that the moving part 320 can be quickly inserted into the fixed part 310 by operating the drive motor 110, and the preset emergency speed can be corrected according to the descent speed and attitude of the air maneuvering device M.

[0081] At the same time, when storing the aerial maneuvering device M, the control unit 500 controls the drive motor 110 to run at a preset storage speed, so that the moving part 320 is inserted.

[0082] In other words, based on the user's operation information or the stored movement information of the air maneuvering device M, the control unit 500 can determine whether the air maneuvering device M has been stored, and when the air maneuvering device M is stored, the drive motor 110 is controlled to run at a preset storage speed while the first clutch C1 is disengaged.

[0083] Therefore, when the drive shaft 100 (excluding the rotation shaft 200) and the pulley mechanism 400 are rotated by the drive motor 110, the moving part 320 can be inserted into the fixed part 310 by the rotation of the pulley mechanism 400.

[0084] In particular, since the insertion operation of the moving part 320 should be carried out smoothly in a way that minimizes damage between components, rather than inserting the moving part 320 at an unreasonable speed while storing the airborne maneuvering device M, the drive motor 110 runs at a preset storage speed.

[0085] Meanwhile, a sensor unit 700 configured to confirm the position of the moving part 320 is provided in the fixed part 310, and when the sensor unit 700 receives the fact that the moving part 320 has been fully inserted or withdrawn during the process of inserting or withdrawing the moving part 320 by the operation of the drive motor 110, the control unit 500 controls the drive motor 110 not to run.

[0086] The sensor unit 700 may be formed by a Hall sensor or a position sensor, and confirms the moving position of the moving unit 320.

[0087] Therefore, when the moving part 320 is inserted or withdrawn by the operation of the drive motor 110, the control unit 500 confirms the position of the moving part 320 by the sensor unit 700, and when it receives the fact that the moving part 320 is fully inserted or withdrawn, the control unit 500 controls the drive motor 110 to stop running, thereby preventing damage to the components caused by excessive movement of the moving part 320.

[0088] The insertion or extraction operation of the moving part 320 according to the present invention can be performed as follows.

[0089] like Figure 2 As shown, in the initial state where the moving part 320 is pulled out from the fixed part 310, the first clutch C1 and the second clutch C2 are engaged, and the brake 600 is not operating.

[0090] Therefore, when the drive motor 110 is running, the drive shaft 100, the rotating shaft 200 and the pulley mechanism 400 rotate together, and when the moving part 320 remains in the state of being pulled out from the fixed part 310, the rotation of the propeller formed by the moving part 320 and the fixed part 310 generates thrust.

[0091] At the same time, if it is necessary to insert the movable part 320, such as Figure 6 As shown, the first clutch C1 is disengaged and the second clutch C2 is engaged. Therefore, when the drive motor 110 is running, the drive shaft 100 and the pulley mechanism 400, except for the rotating shaft 200, rotate. Furthermore, when the brake 600 is running, the rotation of the rotating shaft 200 is restricted.

[0092] Therefore, under the action of the drive motor 110, the pulley mechanism 400 rotates together with the drive shaft 100 except for the rotating shaft 200, thereby moving the moving part 320 into the fixed part 310.

[0093] Therefore, the movable part 320 is inserted into the fixed part 310, and at this time, the elastic body 330 remains under pressure.

[0094] At the same time, such as Figure 7As shown, if it is necessary to pull out the moving part 320 in the inserted state, the first clutch C1 engages, the second clutch C2 disengages, and the brake 600 does not operate.

[0095] Therefore, when the drive motor 110 is running, the drive shaft 100 and the rotating shaft 200 rotate together, and the pulley mechanism 400 rotates freely. Thus, the centrifugal force generated by the rotation of the rotating shaft 200 and the elastic force generated by the elastic body 330 cause the moving part 320 to be pulled out from the fixed part 310.

[0096] In the event of storage and collision of the air maneuvering device M, the propeller control system of the air maneuvering device M with the above-described structure inserts the moving part 320 of the propeller into the fixed part 310, thereby reducing the overall length of the propeller. Therefore, when storing the air maneuvering device M, the overall size of the air maneuvering device is reduced, making it easier to store, and in the event of a collision of the air maneuvering device M, it can prevent secondary accidents caused by debris generated from the rotating propeller contacting the ground.

[0097] Although specific exemplary embodiments of the invention have been shown and described, it will be apparent to those skilled in the art that various modifications and variations can be made to the invention without departing from the technical spirit of the invention as provided by the appended claims.

Claims

1. A propeller control system of an aerial mobile device, the propeller control system comprising: a driving shaft connected to a driving motor to rotate; a rotating shaft connected to the driving shaft through a first clutch to rotate with the driving shaft according to whether the first clutch is engaged; a fixed part extending from the rotating shaft, having an inner space formed in the fixed part, and forming a shape of a part of a propeller; a moving part disposed to be extracted from or inserted into the inner space of the fixed part, and forming a shape of a remaining part of the propeller when extracted from the fixed part; a pulley mechanism connected to the driving shaft and connected to the moving part through the fixed part; and a control part configured to determine whether the moving part is inserted or extracted, and when the moving part is inserted, control the first clutch to be disengaged so that the moving part connected to the pulley mechanism is inserted into the fixed part as the driving shaft and the pulley mechanism other than the rotating shaft are rotated by the driving motor, wherein the driving shaft and the pulley mechanism are connected through a second clutch, and rotate together according to whether the second clutch is engaged. The rotating shaft is rotatably mounted on the aerial mobile device, and the pulley mechanism is disposed inside the rotating shaft so that the pulley mechanism is rotatably mounted on an upper side of the rotating shaft, and the rotating shaft is connected to the pulley mechanism on a lower side thereof.

2. The propeller control system for an aerial mobility device of claim 1, wherein, The first clutch is composed of a first clutch plate disposed on the rotating shaft and a first friction plate, wherein the first friction plate is moved by a first driving part mounted on the driving shaft to be engaged with or disengaged from the first clutch plate.

3. The propeller control system for an aerial mobility device of claim 1, wherein, An elastic body is disposed in the inner space of the fixed part, the elastic body being configured to transmit a force in a direction in which the moving part is extracted.

4. The propeller control system for an aerial mobility device of claim 1, wherein, The pulley mechanism includes:

5. The propeller control system for an aerial mobility device of claim 1, wherein, a pulley part rotatably mounted on the rotating shaft and connected to the driving shaft; and a wire part having one end connected to the pulley part and the other end connected to the moving part, and when the pulley part rotates, the wire part causes the moving part to be inserted into the fixed part by being wound on the pulley part. 6.The propeller control system of the aerial mobile device according to claim 1, further comprising: a brake mounted on the aerial mobile device and in contact with the rotating shaft according to whether the aerial mobile device is operated to limit rotation of the rotating shaft. When the moving part is inserted, the control part controls the brake to be operated to limit rotation of the rotating shaft, and controls the first clutch to be disengaged so that the moving part is inserted into the fixed part through the pulley mechanism.

7. The propeller control system for an aerial mobility device of claim 6, wherein, The second clutch is composed of a second clutch plate disposed in the pulley mechanism and a second friction plate, wherein the second friction plate is moved by a second driving part mounted on the driving shaft to be engaged with or disengaged from the second clutch plate.

8. The propeller control system for an aerial mobility device of claim 1, wherein, ​ 9. The propeller control system for an aerial mobility device of claim 1, wherein, When the moving part is inserted, the control part controls the second clutch to engage, so that the driving shaft and the pulley mechanism rotate together.

10. The propeller control system for an aerial mobility device of claim 1, wherein, When the moving part is extracted in the inserted state, the control part controls the first clutch to engage and the second clutch to disengage, so that the moving part is extracted under the action of centrifugal force generated by the rotation of the rotating shaft.

11. The propeller control system for an aerial mobility device of claim 1, wherein, The control part receives the flight state of the aerial mobile device, and when it is determined that the aerial mobile device has collided, controls the driving motor to operate at a preset emergency speed, so that the moving part is inserted.

12. The propeller control system for an aerial mobility device of claim 1, wherein, When the aerial mobile device is stored, the control part controls the driving motor to operate at a preset storage speed, so that the moving part is inserted.

13. The propeller control system of the aerial mobile device according to claim 1, wherein: The fixed part is provided with a sensor part configured to confirm the position of the moving part, and When the moving part is inserted or extracted by the operation of the driving motor, and when the fact that the moving part is completely inserted or extracted is received by the sensor part, the control part controls the driving motor not to operate.

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