DESC:FORM – 2

THE PATENTS ACT, 1970
(39 of 1970)
AND
THE PATENTS RULES, 2003

COMPLETE SPECIFICATION

(See Section 10; rule 13)

TITLE OF THE INVENTION

DI-COPTER WITH ARMS AND ARMS MECHANISM THEREOF

NAME OF THE APPLICANT
INSTITUTE OF AERONAUTICAL ENGINEERING
Dundigal, Hyderabad – 500 043
Telangana, India
An Indian Institute

The following specification particularly describes the invention and the manner in which it is to be performed.
FIELD OF THE INVENTION
The present invention relates in general to Unmanned Aerial Vehicles (UAVs) and in particular to a di-copter with arms, which is an UAV with arms mechanism that is capable of lifting and carrying weights/loads during any eventualities. The novel and inventive arms mechanism are also disclosed.

BACKGROUND AND PRIOR ART
The present complete specification is being filed in pursuance of the provisional specification filed for Indian patent application no 201741040612 filed on 14th November 2017.
Unmanned Aerial Vehicles, referred as UAVs in this description for brevity, are generally used by the military for surveillance and reconnaissance purposes. With the requirement and advancement of the technology, UAVs are presently used for many other purposes such as monitoring factory working, lifting of weights, carrying light and heavy weights in emergency operations, especially in medical field, etc.
Holding means or arms play a vital role in lifting and carrying these loads from one place and position to another. One of the challenging aspects here is keeping a firm hold and grasping tightly of said weights without any drops. Another challenging aspect is number of such holding means or arms to hold and carry the amounts of loads as much as possible based on the requirement.
At present there is not much development in the field of stabilized arms or mechanisms to hold and carry such high loads without any drops. Also, maintaining the efficiency of the propeller of the UAVs while carrying the loads is something that needs to be addressed. So there is a requirement of simple and effective mechanism which can hold weights firmly and carry them safely to the desired destination.
The present invention seeks to overcome these drawbacks of the prior art.
OBJECTS OF THE INVENTION
Accordingly, the primary object of the invention is to provide a di-copter with arms which can lift any rigid or non-rigid load body to required height by means of the arms attached to the copter.
Another object of the invention is to provide a di-copter with arms which can perform minute operations on land at required location.
A further object of the invention is to provide a di-copter with arms which can collect samples from places considered hazardous or undesirable for humans.
Yet another object of the invention is to provide a di-copter with arms which is light in weight but has sufficient strength to safely hold and carry the loads.
A still further object of the invention is to provide a di-copter with arms which has a compact design, reduced size and occupancy area.
How the foregoing objects are achieved will be clear from the following description. In this context it is clarified that the description provided is non-limiting and is only by way of explanation.

SUMMARY OF THE INVENTION
A di-copter with arms comprises a set of mechanical arms located in a triangular formation and operated with the help of either pneumatic or hydraulic pistons. Ducted fans are arranged on two sides of the copter, placed along the transverse axis of the copter and connected to the main body by bridges on either side of the copter as a flight controlling mechanism. Co-axial arrangement of propellers is connected to respective motors. Its landing gear mechanism has landing legs. Strength in the landing legs is achieved by locking them by means of lockers arranged on top of each arm. The propeller-and-motor systems are connected to the body with the help of a spine. Two arms on either side are moved through servos placed on the opposite side to each arm. The third arm is powered by separate servo. The three arms meet at a point to hold an object accurately and to operate manually, maintain balance and make the CGs of the both the bodies parallel. A chamber is provided to protect the propellers. Each propeller is connected to respective motor. This motor-and-propeller system is connected to the spine. Two landing gears are also connected to the same protective chamber. A camera is arranged below its case on two extremities of the drone which helps to fly the drone. The entire body of the drone is covered with a protection sheet to protect it from weather conditions.

A groove is made on the main body to place the arm into the body of the copter to keep it safe. The arm is moved by a servo motor connected to its upper part. The lower part of the arm is moved by a piston and connected through a joint to the lowest part of the arm, which has a joint and a grip moved through a piston placed on that arm.

The lower palm of the arm is moved with the help of a piston to the lower arm and a grip at the tip of the palm. The whole system is connected to the body of the copter. The whole arms system is powered with the help of compressed air or pressurised liquid. The pressure is separated into different chambers in each arm with the help of nozzles. The third arm is powered by two servos. A piston is connected to the lower part with a rolling joint and a holding which is also connected to the copter body.

The landing gear is connected to the main body at the frame. A groove is provided on the frame to reduce its weight. A small bulged shape holds the legs. The upper part of the gear is fixed with the help of screws to an extension. A valve is provided for locking the air along with an air escape outlet. A bulging balloon-like fibre is provided for elongating the leg to its original size. The lower edge of the leg holds a movable leg below the landing gear. A ball bearing is attached to the leg and a grip is provided below the leg.

BRIEF DESCRIPTION OF THE DRAWINGS ACCOMPANYING THE COMPLETE SPECIFICATION
The nature and scope of the present invention will be better understood from the accompanying drawings, which are by way of illustration of a preferred embodiment and not by way of any sort of limitation. In the accompanying drawings:-
Figure 1 shows the top right hand perspective view of the di copter with arms according to the present invention. It clearly shows essential parts like arms, propellers and ducted arrangement of the copter.
Figure 2 is the top view of the copter with arms through which the arrangement of the arms and propeller scale comparing is possible.
Figure 3 is the side view of the copter with arms showing the arrangement of the propellers, the side view of the arms arranged and also the cameras.
Figure 4 is a lines-and-circles diagram of the arms and the body arrangement as seen in the top and right perspective views of the copter with arms.
Figure 5 is a brief diagram of the skeleton of the body of the di copter with arms in a right and top perspective view. It shows the skeleton structure, how the motors and arms are connected and the space given for the arrangement of the additional elements to the body.
Figure 6 shows a top view of the ducted arrangement of the propellers to the body through the stem.
Figure 7 shows the arrangement of arms in front perspective view of the three arms and the position of the arms arranged on the main body. It also shows details of the compressor and the connected pipes.
Figure 8 shows a cross sectional view of the landing gear arrangement of the di copter.

DETAILED DESCRIPTION OF THE INVENTION
Having described the main features of the invention above, a more detailed and non-limiting description of a preferred embodiment will be given in the following paragraphs with reference to the accompanying drawings.
In all the figures, like reference numerals represent like features. Further, the shape, size and number of the devices shown are by way of example only and it is within the scope of the present invention to change their shape, size and number without departing from the basic principle of the invention.
Further, when in the following it is referred to “top”, “bottom”, “upward”, “downward”, “above” or “below”, “right hand side”, “left hand side” and similar terms, this is strictly referring to an orientation with reference to the apparatus, where the base of the apparatus is horizontal and is at the bottom portion of the figures. The number of components shown is exemplary and not restrictive and it is within the scope of the invention to vary the shape and size of the apparatus as well as the number of its components, without departing from the principle of the present invention.
All through the specification including the claims, the technical terms and abbreviations are to be interpreted in the broadest sense of the respective terms, and include all similar items in the field known by other terms, as may be clear to persons skilled in art. Restriction or limitation if any referred to in the specification, is solely by way of example and understanding the present invention.
The present invention discloses a di copter with arms which is a combination of robotics and copters. It not only lifts the body but also carries the payload to the desired destination either in manual or in auto flying mode. Three mechanical arms, operated by hydraulics actuators, hold the load accurately to get better centre of gravity, holding it parallel to the centre of gravity of the flying copter. Manual operating feature helps to collect the samples from the hazardous places without risk of losing lives, as this copter design helps to get better stability which helps flying in windy days. Many operations can be done through the arms after arriving at high speed at the executing place and also there are many applications in the agriculture field.
According a preferred embodiment of the present invention, it discloses a Di-copter with arms, containing three mechanical arms connected on the centre of the copter to maintain better control on the centre of gravity of the mass. The rotating motion of the three mechanical arms is performed by pair of hydraulic or pneumatic pistons for each arm. The arms are controlled by connecting the primary hydraulic pistons to the primary pressure maintaining valve and the secondary hydraulic pistons of each arm is connected to the secondary pressure maintaining valve. Different valves connected to different servo motors help differentiate the desired pressure ratio to each of the valve. The holding edges of three arms meet at the centre of gravity of the copter which gets its lift by means of coaxial rotors located on both sides longitudinally and ducted fan on both sides laterally with respect to the copter.
Highly powerful arms with hydraulics working with differential pressures help holding the load while lifting it from the ground. At the end of each arm, a grip is provided for better gripping performance of the arms. The skeleton of the arms are made up of light aluminum metal and the rest is made with ultra-light and tough carbon fibre sheet to reduce the weight of the arms. The tip of each arm meets at the centre, perpendicular to the body of the copter, actuated through different pressures put into different arms. The pressure levels are varied through the pair of servo motors connected to the valves which help in movement of the pistons inside hydraulic tubes.
The arms connected to the body of the copter can also move back and forth longitudinally for better performance. This is done with the arrangement of two servos positioned lateral to the body of the copter. Lift to the copter is obtained through rotors arranged coaxially and powered by a pair of motors facing opposite to each other vertically. The rotor connectors to the motors rotate in the opposite direction to eliminate the torque produced due to individual propeller and also to get higher lift. The speed is controlled by a pair of electronic speed control devices manually through transmitter.
Changing the direction of the copter can be done with the help of the pair of ducted fans which are placed lateral to the body of the copter and placed outside the body to decrease the weight as well as the deflection rate. The ducted fans can be tilted with the help of the servos, so they can be tilted front and back as well as one in one direction and other to opposite direction to generate the yawing moment to the copter. These are connected to each ESC for speed control.
Landing gears located on the edges of four sides of the copter are controlled through air pressure. For this, the piston is altered with foldable cloth, which is placed inside the main or primary piston which pushes the lower leg, or inside the secondary piton which controls a rotary leg located below it, which helps in landing in uneven places. It also helps in decreasing the length of the legs for better control over the copter. High definition cameras are arranged on the top of the three arms to get better vision of the operating arms and to control the arms while the copter is away from its control position.
Valves used in the copter help the arms to move up and down and to hold the load body. The valve consists of one inlet to enter the pressurised air or liquid and two outlets to exit it into two pipes connected to the inlet and outlet of the pistons which are connected to the servos, which regulate the flow of the pressured air or liquid to move the piston. Another valve is used to control the landing gears. It has one inlet to expand and a locker to arrest the air inside the leg to keep it open and also for reducing the impact while landing.
To prevent reduction of efficiency of the propeller, they are placed with some vertical distance between them in the present invention.
According to the present invention, the Di-copter is provided with mechanical arms set in a triangular formation, the ducted fans being arranged on both sides of the copter. The ducted fans are placed along the transverse axis of the copter. The lift to the copter is generated by dint of the co axial arrangement of the propellers connected to the motors. Landing mechanism is used to land the copter carefully above the ground to perform operations with the help of the foot of the landing mechanism. The propeller and motor system are connected to the body with the help of a spine. Lockers are arranged on the top each arm. Arms can be operated with the help of the pneumatic or hydraulic pistons. The ducted fans arrangement is connected to the main body by a first bridge on one side and a second bridge on the other side. The entire body of the Di-copter is covered with a protection sheet to protect it from weather conditions.
We refer to figures 1, 2 and 3 of the accompanying drawings. The di copter according to the invention is provided with a mechanical arms set 7, 14, 23 located in a triangular formation. Ducted fans 10, 21 are arranged on two sides of the copter as a flight controlling mechanism. They are placed along the transverse axis of the copter which will be further discussed below. The lift to the copter is generated by the co-axial arrangement of propellers 18 connected to motors 5. The landing gear mechanism 19, 16, 1, best shown in figure 1, is used to land the copter carefully on the ground to perform operations with the help of the feet 3, 17 of the landing mechanism as shown. The propeller and motor systems are connected to the body with the help of spine 15. Strength in the landing legs is achieved by locking the landing legs by means of lockers 6 arranged on top of each arm 7, 14, 23. Arms can be operated with the help of either pneumatic or hydraulic pistons 8. The ducted fans arrangement 10, 21 is connected to the main body by the bridges 13, 20 respectively on either side of the copter as shown. The entire body of the drone is covered with a protection sheet 24 as shown in figure 1 to protect it from weather conditions.
Referring to figure 2 showing the top view of the complete drone, 27 represents the cover to the propeller and motor systems which also consists one of the landing gears 28 and other on the another side opposite to it represented with 46. The propeller inside the protected cover is rotated with the help of motor. Arms 7 and 23 on either side are powered to move with the help of servos placed on the opposite side to each arm which helps to hold the object 37 accurately. The third arm 14, best seen in figure 1, is powered with a servo 49 and the three arms meet at a point 48. On the other side of the drone there are the two bridges 13, 20 to the ducted arrangement 10, 21 with a propeller on both sides 40, 36. The arm is moved with the help of servo 49. On the same side of the drone, a protected chamber 41 is provided which protects the propellers 18, each propeller being connected to respective motor 45. This motor-and-propeller system is connected to the spine 52 and there also are two landing gears 50 and 42 connected to the same protective chamber 41.
As shown in figure 3, the side view of the drone, 53 is the longitudinal axis and 65 is the vertical axis. This view omits the ducted arrangement for affording a better view of the arms arrangement. A camera 54 is arranged below its case 75 which helps to fly the drone. On the other side also, the arrangement is the same. Propellers 18 are shown along with motors 5. The covers are attached to the body. The spine 15 is responsible for the strength to the body and point 78 is the CG of the total body. A camera is placed at centre to get a better view of the arms. The top part 69 of the arm is connected to the body and the second part 66 of the arm is connected to lower arm 80 with a tip 64 which intersects the vertical axis on the other side the arm 60on the side of the drone. It also has upper arm and a lower arm 61 attached with a lower arm 63. These arms are operated with the help of hydraulic or pneumatic pistons 68, 62. Finally this system is connected to the body at position 59.
Referring to figure 4, the spine to the complete drone 15 connects the two outer protecting frames 99 and 81 for the propeller and motor system with a joining at 100 and 83. The centre of the propellers 82 and 90 are represented as the end of the spine. The bride 99 is represented in a single line which connects the ducted arrangements 97 with the centre 98 where the motor is placed, which connects the body at the outer protection frames 91 and to another bridge on the other side of the body. The ducted arrangement centres 84 and 98 are passed or joined through the lateral axis passing and intersecting the longitudinal spine 15 at a point 94. Two arms attached to the body pass through the lateral axis. This point is denoted by 87 on one side and 96 on the other side. The other arm which is placed at some distance from the other two arms is at a point represented as 93. All the three arms meet at a point tip 88 with a bend for the three arms at 95, 86 and 92 to operate manually, to maintain balance and also to make the CGs of the both the bodies parallel.
Reference is now made to figure 5.
The metal body of the copter helps it lift the heavy load. The spine 15 is connected to the `propellers as explained below. The two ends of the spine 114, 102 are specifically designed to fix the motors 5 as it has two propeller-and-motor systems. The motors are placed on top of one another in inverted position for more lift generation. A big hole 111 is made in the spine to place the arm inside the hole. The protective frame 115 protecting the propellers is connected with spine at a point 112 on one side, and at a point 105 on the other side. The whole protective chamber is connected to the main body of the drone at a point joint 116 and joint on one side and at a point 113 on the other side. Contours 106 are provided on the main frame to facilitate placing the arms in the main frame. The bridges between the ducted fans and main frame are joined at 120 on one side and at 110 on the other side. The ducted arrangement is protected by the frame 119 and 107 on both the sides with the centres 108 and 118 on both sides. The rods used for bridge 13 and 20 helps in making it strong.
Referring to figure 6, the ducted arrangement is supported by a frame 125 which helps the propellers to rotate. The protection frame 127 around the propellers holds the motor 5. A bridge 128 is attached to the outer frame 135 representing a bridge between the main body and the ducted arrangement. The number 132 represents the inner layer of the frame as seen in the top view. 134 is the bridge to connect the motor as well as the propeller 18. This system in its entirety is connected to the main body of the drone. The ducted fans 10, 21 help rotate the drone in both directions with the help of servos. A rubber sheet is placed between the motor and the spine edge to prevent the body from vibrations created by the propellers 18.
The constructional features of the arms are explained with particular reference to figure 7. A groove 136 is made on the main body to place the arm 7 into the body of the copter to keep it safe. The arm 7 is moved with the help of servo motor 49 connected to the upper part 138 of the arm 7 and the lower part of the arm is moved with the help of the piston 8. It is connected through a joint 140 the lowest part of the arm 7 which also has a joint and a grip 144 which is moved with a piston placed on that arm. The arm 23 placed on the other side is powered with the servo 163. This side also has a curve 162 inside the body which is connected to the upper part of the lower part with the help of the joint 159. This helps it come closer to the other arm to make a contact with the palm. The lower palm 155 of the arm is moved with the help of a piston 158 to the lower arm 156 and a grip at the tip of the palm 154. The whole system is connected to the body 157 of the copter. The whole arms system is powered with the help of compressed air or pressurised liquid and the pressure is separated into different chambers 166 and 153 in each arm with the help of nozzles 152, one the inlet 107 and the other to the outlet of the piston. The pressure generated is connected to the chamber with the help of a pipe.
The third arm 14 is powered by two servos 151 and 154, which is shown in the cross section 145. A piston 150 is connected to the lower part with rolling joint 147 and a holding 148 which is also connected to the copter body 157.
The power to rotate the propellers is given by the motors which are placed on one on top in inverted position, but the propellers are placed downwards. The wing of the propeller up on one side and the wings on other side are used to produce lift. They are connected with the metal spine with a rubber material between the circular layers, connected to the main part of the spine. The propellers are attached to the motors with the help of nuts and other instruments. The strength of the propellers is concentrated at its centre.
Reference is made to figure 8. The landing gears form a very important and innovative part of the invention. It is instrumental in landing of the whole copter and resisting the weight to be lifted by the copter. This cross-sectional diagram shows one of the landing gears 16. It is connected to the main body 191 at the frame which covers the propeller. A groove 204 is provided on the frame to reduce its weight. A small bulged shape 203 holds the legs. The upper part 193 of the gear is fixed with the help of screws to the extension 203. It has a valve 192 which locks the air. Number 194 represents the cross section of the upper leg. A bulging balloon-like fibre 205 elongates the leg to its original size. The air escape outlet is represented as 202. The cross section of the balloon 19 is shown for better view in figure 1. The lower edge 197 of the leg holds 201 the movable leg 199 below the landing gear which is shown in cross section. It has a ball bearing 198 attached to the leg and a grip 200 is provided below the leg.

Advantages:
Some of the non-limiting advantages of the present invention are mentioned in the list below. Other advantages will be clear to a person skilled in the art from the description provided above.
• Suitable for lifting any rigid or non-rigid body to the required heights by means of the arms attached to the copter.
• Can undertake minute operations at required location.
• Can collect samples from places that are hazardous or undesirable for humans.
• Has a light weight structure which has sufficient strength to support and carry the loads.
• Has a compact design which reduces the total volume of copter.
• Provision of ducted fans on either side of the copter laterally for better hover the copter.
• Provision of arms in a triangular format in such a way that the tip of the arms meet at longitudinal axis of the body to hold even non-rigid bodies easily by matching the center of gravity of the body with the center of gravity of copter.
• Option to choose the power source for copter as it depends on the scale of the model.
• Retractable landing gears for easy landing on uneven surfaces.

The present invention has been described with reference to some drawings and a preferred embodiment purely for the sake of understanding and not by way of any limitation and the present invention includes all legitimate developments within the scope of what has been described herein before and claimed in the appended claims.
,CLAIMS:We claim:
1. A di-copter with arms comprises mechanical arms set (7, 14, 23) located in a triangular formation, ducted fans (10, 21) arranged on either side of the copter as a flight controlling mechanism, propellers (18) co-axially arranged and connected to motors (5), landing gear mechanism (1, 16, 19) having landing legs suitably locked for ensuring strength by means of lockers (6) arranged on top of each arm (7, 14, 23), all the three arms (7, 14 23) being powered to move with the help of servos such that the three arms meet at a point (48) in order to hold an object (37) accurately, to operate manually, to maintain balance and also to make the CGs of the bodies parallel, each propeller is connected to respective motor (45), two landing gears (42, 50) being connected to a protective chamber (41) which also protects the propellers (18), an image capturing device (54) is located at a central position atop the three arms (7,14,23) for better vision of these operating arms while the copter is away from control position

2. The di-copter with arms as claimed in claim 1, wherein groove(136) is made on the main body to place arm (7) into the body of the copter to keep it safe, arm (7) being moved with the help of servo motor (49) connected to its upper part (138), the lower part of the arm being moved by piston(8) and connected through a joint(140) to the lowest part of arm (7), which has a joint and a grip (144) moved through a piston placed on that arm.

3. The di-copter with arms as claimed in claims 1 and 2, wherein lower palm (155) of the arm is moved with the help of a piston (158) to the lower arm (156) and a grip at the tip of the palm (154), the whole system being connected to the body (157) of the copter, the whole arms system is powered with the help of compressed air or pressurised liquid, the pressure is separated into different chambers (166) and (153) in each arm with the help of nozzles (152), the third arm(14) being powered by two servos(151, 154), a piston(150) being connected to the lower part with rolling joint (147) and a holding (148) which is also connected to the copter body (157).

4. The di-copter with arms as claimed in claim 1, wherein landing gear (16) is connected to the main body (191) at the frame, a groove (204) being provided on the frame to reduce its weight, a small bulged shape(203) holding the legs, the upper part (193) of the gear being fixed with the help of screws to extension (203), a valve (192) being provided for locking the air along with an air escape outlet (202), a bulging balloon-like fibre (205) provided for elongating the leg to its original size, the lower edge (197) of the leg being adapted to hold a movable leg (199) below the landing gear, a ball bearing (198) being attached to the leg and a grip (200) being provided below the leg.

5. The di-copter with arms as claimed in claim 1 wherein the propeller and motor system are connected to the body with the help of spine.

Dated this on 26th day of March, 2018

Subhajit Saha
Patent Agent (IN/PA-1937)
Agent for the applicant